Motion planning & control

Open source

Coverage path planning library for autonomous agricultural vehicles.

Open source

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Open source

A system identification framework for robots

Open source

Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly…

Open source

An RL framework for Franka Panda manipulation in MuJoCo.

Open source

Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023

Open source

A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped

Open source

Gradient-Informed Path Smoothing for Wheeled Mobile Robots (GRIPS)

Open source

PyBullet Gymnasium environments for quadcopter control learning.

Open source

Hector Quadrotor with MoveIt! Motion Planning Framework

Open source

Browser-based simulator for hexapod robot geometry and motion.

Open source

A Numba-accelerated iLQR implementation with state and input constraints.

Open source

UR10 manipulation learning experiments in Isaac Sim, including force-aware control.

Open source

Robot descriptions, messages and controllers for Jackal.

Open source

This project is based on a Kinova robotic arm URDF converted to an MJCF format for MuJoCo simulation. It integrates Pinocchio for dynamic computations and develops demos for kinematics, trajectory…

Open source

Python toolkit for robot kinematics calculations.

Open source

Tools to compose, validate and compile URDF, XACRO and SRDF models.

Open source

Linux and Docker setup guidance for real-time ROS applications.

Open source

Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning"

Open source

Template-based robot dynamics library.

Open source

MIGHTY: Hermite spline-based real-time trajectory planner for single- and multi-agent UAVs and ground robots (ROS 2). Accepted to IEEE RA-L.

Open source

Research on distilling motion-planner policies into visual robot control.

Open source

🤖 A motion planning MATLAB & V-rep implementation for the KUKA LBR iiwa robotic arm, performing null-space reconfiguration for obstacle avoidance.

Open source

Algorithm and model experiments for robot motion planning. Implemented in Julia.