Open-source alternatives to Ego Planner Swarm

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

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

Rotors Simulator is a physics-based simulation framework designed for testing multirotor unmanned aerial vehicles and their control algorithms within a virtual environment. It models aerial vehicle movement, rotor thrust, and aerodynamic interactions by computing individual motor speeds directly to apply thrust and torque forces to rigid body dynamics. Aircraft kinematics, visual meshes, and sensor attachment points are described declaratively using unified robot description format files. The environment integrates dynamic models and aerodynamic forces through native runtime plugins while coo

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

Newton is a GPU-accelerated physics engine and robotics simulation platform designed for high-performance modeling of rigid bodies and complex articulations. It functions as a differentiable physics engine, calculating gradients to enable mathematical optimization and machine learning. The platform is distinguished by its ability to execute multiple parallel physics worlds on a single GPU, which accelerates data collection for reinforcement learning. It also supports the simulation of deformable bodies, such as cloth and cables, using particle-based methods and multi-physics coupling. Newton

mujoco_menagerie is a curated library of physical robot specifications and XML model definitions designed for standardized dynamics and contact simulation. It provides a collection of high-quality robot model files for humanoids, quadrupeds, and manipulators, alongside detailed kinematic and inertial parameters used to reproduce real-world robot behavior in virtual environments. The project serves as a repository of robotics simulation assets and MJCF model definitions optimized for accuracy. It includes standardized model libraries specifically for bipedal, quadrupedal, and humanoid hardware

Prometheus is an autonomous drone flight stack providing a software suite for navigation, target recognition, and flight control. It functions as a computer vision navigation engine and a precision autonomous landing controller, enabling unmanned aerial vehicles to operate without manual pilot input. The system distinguishes itself through multi-vehicle coordination and swarm synchronization, allowing aerial and ground vehicles to maintain formations and execute joint maneuvers via a shared communication framework. It further integrates a simulation environment for software-in-the-loop testin

This library is a comprehensive toolkit for autonomous robot navigation and multi-agent motion coordination. It provides a framework for calculating collision-free movement trajectories, enabling multiple robots to operate within shared environments while maintaining efficient and safe paths. The project distinguishes itself by supporting both global and decentralized control strategies. It offers global coordination techniques that resolve path conflicts across entire workspaces to ensure unified group movement, alongside decentralized methods that allow individual agents to react dynamicall

OpenMower is an autonomous lawn mower controller and firmware system that uses high-precision RTK GPS to navigate robotic mowers without the need for physical boundary wires. It functions as a GPS-based path planner and hardware management system that converts manual machines into autonomous units. The project includes a remote management application for monitoring and controlling mowers via a web or mobile interface. It integrates an obstacle avoidance system and safety layers that execute emergency stops when the device is lifted or crashes. The system manages robotic hardware through firm

Teblocalplanner is a robot navigation package and local planner that computes collision-free trajectories for mobile robots in dynamic environments. The software operates as a navigation algorithm designed to calculate optimal paths by continuously balancing execution time, kinematic limits, obstacle clearance, and trajectory smoothness within a moving time window. The system utilizes timed-elastic-band optimization to treat trajectories as elastic bands that deform based on environmental constraints and obstacles. It incorporates graph-based topology generation to explore distinct homotopy

Genesis World is an embodied AI simulation platform designed for training robotic agents through physics-based interactions. It centers on a multi-physics simulation engine that integrates rigid body, particle, and finite element method dynamics, supported by a parallel simulation kernel compiler that translates Python functions into optimized GPU and CPU kernels. The platform features a photorealistic robot renderer that utilizes path-tracing and Gaussian Splatting to generate synthetic training data. It includes a domain randomization framework to vary lighting and physical parameters acros

Chrono is a multi-physics simulation suite that functions as a multibody dynamics simulator, a finite element analysis tool, and a robotics simulation framework. It provides specialized solvers for fluid-solid interaction and distributed physics engines capable of synchronizing multiple agents across a network. The project features a dedicated pipeline for converting CAD assemblies into simulation-ready formats and integrates directly with robot operating systems to validate autonomous control logic and sensors. It differentiates itself through the use of WebAssembly for portable browser-base

React Native Animated Charts is a user interface component library for building interactive line graphs and data visualizations within mobile applications. It functions as a cross-platform component for rendering scalable vector graphics chart paths, touch-following indicators, and dynamic axis labels on iOS and Android devices. The library incorporates data processing capabilities to prepare raw datasets for display. It handles cubic spline data smoothing to transform coordinate sets into continuous curves, alongside downsampling algorithms to reduce point density while retaining critical e

DRL-robot-navigation is a deep reinforcement learning platform and robotic simulation framework designed to train autonomous mobile robots for collision-free path planning. It uses neural network policies and physics-engine simulation environments to teach robots how to navigate toward target coordinates while avoiding obstacles. The software trains continuous control policies using twin delayed deep deterministic policy gradients over continuous state and action spaces. Training is guided by scalar reward signals derived from target proximity and obstacle avoidance distances. System compone

The project provides a software simulation framework and physics engine for modeling underwater vehicles, subsea sensors, and ocean environments. It runs within robotics middleware to test autonomous and remotely operated underwater vehicles by combining hydrodynamic physics, ocean currents, and sensor modeling. The platform computes hydrodynamic forces, buoyancy, equations of motion, and thruster dynamics to accurately replicate underwater physics. It loads pre-configured mechanical assemblies, manipulator panels, and environmental sensors, while generating three-dimensional water movement f

MotionPlanning is a software library designed for autonomous navigation, providing a comprehensive suite of tools for path planning, trajectory generation, and vehicle control. It enables the calculation of collision-free routes and dynamic movement paths for autonomous vehicles operating in complex, changing environments. The project distinguishes itself by integrating hierarchical motion decomposition, which separates high-level route planning from low-level trajectory generation to manage computational complexity. It employs kinematic bicycle modeling and trailer dynamics simulation to ens

OM1 is a multimodal AI agent runtime and orchestration framework designed to connect large language models to physical robot hardware and sensors. It provides an execution environment that processes audio, video, and sensor data to drive autonomous decisions and actions in real-world settings. The system integrates a robotics SLAM and navigation stack with a hardware abstraction layer, allowing high-level AI commands to be translated into low-level motor and actuator instructions. It distinguishes itself by incorporating blockchain-based governance to enforce immutable operational rules and p

Open_vins is a visual-inertial odometry framework and SLAM system designed for robotic state estimation. It uses an Extended Kalman Filter to fuse high-frequency inertial sensor data with visual feature tracks to estimate the position and orientation of a moving device. The system features a sensor calibration suite for calculating intrinsic and extrinsic parameters, as well as temporal offsets between cameras and inertial measurement units. It includes a manifold interpolator that uses B-Spline curves over the special Euclidean group to produce smooth trajectory paths between discrete pose e

DeepMimic is a deep reinforcement learning framework and physics-based motion imitation tool designed to teach simulated characters and robots to reproduce human movements. It provides a pipeline for integrating motion capture data into physics simulations to train agents that can mimic complex physical skills. The system utilizes the PyBullet simulation environment to execute motion policies and visualize character interactions in real time. It includes a motion capture integration pipeline that imports and processes animation sequences to serve as reference targets for imitation learning ag

Habitat-Lab is an open-source platform for training and evaluating embodied AI agents in photorealistic 3D indoor environments. It functions as a high-performance 3D indoor environment simulator that supports physics-based interaction, enabling research into navigation and manipulation tasks. The platform provides a modular task-environment abstraction that separates task logic from environment simulation, using configuration-driven pipeline assembly to compose simulation and training pipelines. It includes a hierarchical sensor-actuator architecture for mixing and matching perception and act

jetson-inference is a set of libraries and tools for executing optimized deep learning models on embedded GPU hardware. Its primary purpose is to enable real-time computer vision and AI inference at the edge with low latency and high throughput. The project distinguishes itself through high-performance streaming analytics and the ability to execute concurrent AI pipelines on auto-grade silicon. It provides specialized support for multi-sensor stream processing, utilizing zero-copy data transport to load camera frames directly into GPU memory. The codebase covers a broad surface of capabiliti

CARLA is an autonomous driving simulator and research environment designed for developing and validating self-driving software. It functions as an urban traffic simulator that generates realistic vehicle and pedestrian behavior and as a synthetic sensor data generator producing LiDAR, Radar, and camera data. The platform distinguishes itself through its deep integration with robotics frameworks, specifically providing native connectivity to ROS2 nodes for robotic control and data processing. It supports the training of driving models via imitation and reinforcement learning within a controlle

AirSim is a high-fidelity simulation platform designed for the development and testing of autonomous vehicles. Built as a plugin for game engines, it provides a physics-based environment that models vehicle dynamics and sensor data, serving as a foundation for robotics research, computer vision training, and reinforcement learning. The platform distinguishes itself through its support for hardware-in-the-loop and software-in-the-loop testing, allowing developers to validate control logic and firmware against real-world signals or concurrent processes. It offers extensive programmatic control

Gazebo - A dynamic multi-robot simulator

OSSDC SIM: An Autonomous Vehicle Simulator (forked from LGSVL Simulator)

AWSIM is the best digital twin simulator for Autoware.