Motion planning & control

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"

Research

MAVLink-to-ROS gateway for vehicle communication and ground-control integration.

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.

Research

Multi-Robot Motion Planning with Diffusion Models

Research

Rigid-body dynamics simulator.

Open source

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

Research

Welcome to an in-depth visual guide on Motion Planning in Robotics — the brain behind how robots decide where and how to move!

Open source

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

Research

Motion-Planning-for-for-Mobile-Robotse-Robotics

Open source

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

Open source

Documentation for the MotrixSim multibody dynamics and robotics simulation engine.

Open source

MPC-guided RL for Humanoid Locomotion and Manipulation

Open source

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

Open source

This repository implements Motion Planning Diffusion (MPD) - a method for learning and planning robot motions with diffusion models.

Open source

A C++/CUDA implementation of Model Predictive Path Integral control.

Open source

Motion Planning Templates creates fast, parallel, robot-specific motion planners.

Open source

MuJoCo locomotion RL experiments with PPO and domain randomization.

Open source

Hybrid motion planner related to "Trajectory Planning for Quadrotor Swarms" and "Trajectory Planning for Heterogeneous Robot Teams" papers

Research

Newton Dynamics engine for real-time physics simulation.

Open source

Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning"

Research

Code generation for nonconvex embedded optimization with ROS support.

Open source

PAROL6 ROS2 MOVEIT