motionplanner,github

aa-sipp-m

Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried out in (x, y, \theta) configuration space, i.e. agents' orientation are taken into account.

astar_planner_ros

A global planner plugin of a grid-based A-star search algorithm for ROS navigation stack.

autonomous_driving_mpc

Model Predictive Controller for Autonomous Driving implemented using ROS and C++

autonomous_exploration_development_environment

Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.

bench-mr

Motion Planning Benchmark

chhrobotics_cpp

自动驾驶规划控制常用算法c++代码实现

cl-cbs

An Efficient Multi-Agent Path Finding Solver for Car-Like Robots

cpp-spline

Package provides C++ implementation of spline interpolation

dstar-lite-pathplanner

Implementation of the D* lite algorithm in Python for "Improved Fast Replanning for Robot Navigation in Unknown Terrain"

dstarlite

Repository provides an implementation of D*Lite algorithm adapted for single-shot grid-based 2D environment.

dwa_planner

ROS implementation of DWA(Dynamic Window Approach) Planner

dynamic_obstacle_detector

A simple (but effective) detector of dynamic obstacles in laser scans.

ese-619-model-predictive-control

Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn

far_planner

Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

fast-planner

A Robust and Efficient Trajectory Planner for Quadrotors

fast_methods

N-Dimensional Fast Methods: Fast Marching, Fast Sweeping, Group Marching, Fast Iterative, etc.

fields2cover

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

fields2cover_ros

A ROS interface of Fields2Cover

fiesta

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

gcopter

A General-Purpose Trajectory Optimizer for Multicopters

graceful_controller

A better local controller for ROS Navigation.

grid_map

Universal grid map library for mobile robotic mapping

heuristic_path_planners

Collection of classes and functions to allow 2D/3D path generation with heuristic algorithms such as A*, Theta* and LazyTheta* and ROS Interfaces

hybrid_a_star

Hybrid A Star algorithm C++ implementation

indires_navigation

ROS packages for ground robot navigation and exploration

infinitam

An extended infinitam version with a ROS node

iplanner

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel imperative learning approach

jps3d

A C++ implementation of Jump Point Search on both 2D and 3D maps

jpspluswithgoalbounding

JPS+ and Goal Bounding

lattice_path_planner

A* search with motion primitives

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