Hybrid motion planning

Drake is a robotics simulation framework and control system modeling tool used for designing, simulating, and verifying the dynamics of complex robotic systems. It functions as a multibody dynamics simulator and a mathematical optimization library, providing a suite of algorithms for trajectory optimization and the simulation of articulated robots. The framework is distinguished by its block-diagram system for composing dynamical subsystems and its ability to formulate and solve diverse mathematical programs, including linear, quadratic, and nonconvex nonlinear problems. It supports specializ

Navigation2 is a navigation stack for ROS 2 designed for autonomous robot navigation. It provides a framework for computing optimal paths from a starting position to a goal while avoiding static and dynamic obstacles. The system utilizes a behavior tree orchestrator to coordinate complex navigation tasks and trigger recovery actions. Its architecture is plugin-based, allowing planners, controllers, and costmap layers to be swapped at runtime without recompiling the core system. The project covers path planning, motion control, and environmental mapping. It generates occupancy grids and costm

Apollo is a comprehensive software stack designed for autonomous vehicle development, providing the necessary components for perception, planning, and control. It functions as a high-performance robotics middleware, utilizing a publish-subscribe data bus to facilitate low-latency communication between distributed modules and hardware sensors. The platform integrates data from cameras, lidar, and radar through a sensor fusion framework to generate a real-time environmental model for navigation. The system features a component-based runtime framework that manages task scheduling and resource al

PythonRobotics is a comprehensive collection of modular robotics algorithms and educational simulations designed for autonomous navigation, state estimation, and motion control. The project provides a library of standalone implementations for path planning, localization, mapping, and kinematics, serving as a resource for researchers and students to experiment with foundational and advanced robotic theories. The project distinguishes itself through an algorithm-centric design where each module functions as an isolated script, allowing for independent testing and clear pedagogical demonstration

Navigation2 is a ROS 2 navigation framework for autonomous mobile robots. It provides the core identity of a path planner, costmap management system, kinematic motion controller, and behavior tree orchestrator to compute collision-free routes and execute movement commands. The framework is distinguished by its use of behavior trees to coordinate modular task servers, enabling complex navigation routines and autonomous recovery actions. It supports a plugin-based architecture that allows planners and controllers to be swapped at runtime to adapt to different environments. The system covers a

Our recently developed planner EGO-Swarm is an evolution from EGO-Planner. It is more robust and safe, and therefore, is more recommended to use. If you have only one drone, just set the droneid to 0 in EGO-Swarm's launch files. Of course, some topic names are changed from EGO-Planner, check it…

This project is a comprehensive library and framework for autonomous mobile robot navigation, providing a suite of geometric, heuristic, and optimization-based algorithms. It enables robots to calculate collision-free global paths and generate smooth, kinematically feasible local trajectories within complex environments. The system is built on a modular plugin architecture that allows developers to integrate and configure custom motion planning algorithms directly into the Robot Operating System. By utilizing a layered spatial representation, the framework aggregates heterogeneous sensor data

This project is a framework for autonomous mobile robot navigation within the Robot Operating System ecosystem. It provides a suite of tools for calculating safe trajectories and movement commands, enabling mobile bases to reach specific destinations while avoiding obstacles in dynamic environments. The system utilizes a hierarchical planning approach that separates long-range path generation from short-range reactive obstacle avoidance. It maintains spatial awareness through a centralized coordinate tracking system and a grid-based representation that stores obstacle information and proximit

This project is a comprehensive software framework for autonomous robot navigation, providing a collection of algorithms for path planning, motion control, and trajectory generation. It serves as a toolkit for implementing and researching navigation logic, enabling the calculation of collision-free routes and the execution of precise movement commands for autonomous mobile agents. The library distinguishes itself by integrating both global pathfinding and real-time reactive control strategies. It supports diverse planning methodologies, including graph-based heuristic searches and sampling-ba

The ROSPlan framework provides a generic method for task planning in a ROS system.