motion-planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

robotics astar motion-planning rrt path-planning ros rrt-star voronoi autonomous-vehicles path-tracking jump-point-search ros-navigation model-predictive-control trajectory-planning pure-pursuit artificial-potential-field dstar-lite lpa-star

UpdatedFeb 16, 2025
C++

jslee02 /awesome-robotics-libraries

Star2.4k

😎 A curated list of robotics libraries and software

machine-learning robotics simulation optimization motion-planning awesome-list slam robotics-libraries multibody-dynamics

UpdatedJun 22, 2024

petercorke /robotics-toolbox-python

Star2.4k

Robotics Toolbox for Python

python robotics kinematics dynamics motion-planning trajectory-generation jacobian hessian robotics-control robotics-simulation robotics-toolbox robot-manipulator

UpdatedSep 3, 2024
Python

stack-of-tasks /pinocchio

Star2.2k

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

python c-plus-plus robotics kinematics dynamics automatic-differentiation conda motion-planning ros code-generation urdf rigid-body-dynamics cppad fcl casadi analytical-derivatives pinocchio

UpdatedMar 26, 2025
C++

Unity-Technologies /Unity-Robotics-Hub

Star2.2k

Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

robot unity simulation tutorials motion-planning ros planning trajectory-generation manipulation urdf physics-simulation robotics-control physics-3d autonomy robotics-simulation autonomous-robots robot-simulation robot-manipulator unity-robotics robotics-development

UpdatedNov 26, 2024
C#

karlkurzer /path_planner

Star1.7k

Hybrid A* Path Planner for the KTH Research Concept Vehicle

robotics motion-planning planning-algorithms

UpdatedSep 26, 2024
C++

ompl /ompl

Star1.7k

The Open Motion Planning Library (OMPL)

robotics motion-planning

UpdatedMar 26, 2025
C++

symforce-org /symforce

Star1.5k

Fast symbolic computation, code generation, and nonlinear optimization for robotics

python computer-vision cpp robotics optimization structure-from-motion motion-planning code-generation slam autonomous-vehicles symbolic-computation

UpdatedMar 26, 2025
C++

wangzheallen /awesome-human-pose-estimation

Star1.4k

Human Pose Estimation Related Publication

motion-planning motion-capture human-pose-estimation paper-reading 2d-human-pose 3d-human-pose pose-dataset video-pose-estimation pose-generation human-generation real-time-pose-estimation domain-knowdge pose-focasting pose-and-language 3d-human-mesh motion-prediction human-env-interaction human-scene-interaction

UpdatedAug 7, 2020

petercorke /robotics-toolbox-matlab

Star1.3k

Robotics Toolbox for MATLAB

robotics kinematics dynamics matlab motion-planning trajectory-generation slam mobile-robots jacobian matlab-toolbox kalman-filter rigid-body-dynamics arm-robot

UpdatedJan 1, 2023
MATLAB

HKUST-Aerial-Robotics /FUEL

Star1.1k

An Efficient Framework for Fast UAV Exploration

uav motion-planning autonomous-robots aerial-robotics autonomous-navigation

UpdatedNov 19, 2024
C++

roboticslibrary /rl

Star1k

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

visualization c-plus-plus robotics kinematics dynamics collision-detection motion-planning path-planning hardware-abstraction rigid-body-dynamics multibody

UpdatedDec 28, 2024
C++

HKUST-Aerial-Robotics /Teach-Repeat-Replan

Star1k

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

uav motion-planning perception aerial-robotics autonomous-navigation autonomous-drone-race

UpdatedOct 19, 2021
C++

ethz-adrl /towr

Star966

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

robot computer-graphics eigen motion-planning ros trajectory-optimization locomotion nonlinear-programming collocation legged-robots biped quadruped physics-based-animation ipopt snopt xpp ifopt

UpdatedApr 17, 2023
C++

eleurent /phd-bibliography

Star951

References on Optimal Control, Reinforcement Learning and Motion Planning

reinforcement-learning bibliography motion-planning optimal-control robust-control

UpdatedFeb 26, 2022

loco-3d /crocoddyl

Star933

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

robotics conda motion-planning ros code-generation trajectory-optimization optimal-control differential-dynamic-programming legged-robotics model-predictive-control crocoddyl