Open-source alternatives to Ompl

A ROS driver for the AutonomouStuff PACMod drive-by-wire system.

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

PyKEP is a scientific library providing basic tools for research in interplanetary trajectory design.

Open Source Car Control 💻🚗🙌

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

Nonconvex embedded optimization: code generation for fast real-time optimization ROS support

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

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

Flexible Collision Library

A ROS implementation of Fast and Safe Tracking (FaSTrack).

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC

ANSI C library for NURBS, B-Splines, and Bézier curves with interfaces for C++, C#, D, Go, Java, Javascript, Lua, Octave, PHP, Python, R, and Ruby.

GUI, CLI, and ROS 2 messages for robot traffic flows in buildings

ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization.

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

C++ RRT (Rapidly-exploring Random Tree) Implementation

Local trajectory planner based on a multilayer graph framework for autonomous race vehicles.

ICRA Crowd-aware Robot Navigation

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 provides a complete set of design files and hardware specifications for a 3D-printable industrial-style robot arm. The system includes a CAN bus robot controller for managing stepper motors and sensors, a kinematics engine for calculating joint angles and poses, and a UDP-based Python API for sending motion commands and monitoring telemetry. The system features a force-controlled robotic gripper that utilizes field-oriented control on stepper motors to enable compliant grasping and precise force sensing. It also includes a 3D position visualization tool for real-time telemetry tr

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

UniAD is a unified deep learning framework for autonomous driving that integrates perception, prediction, and planning into a single end-to-end model. It functions as a neural network architecture that maps raw sensor data directly to driving trajectories and motion plans. This project serves as a research implementation of a planning-oriented approach that jointly trains occupancy, mapping, and object tracking modules. It employs a multi-task perception framework to optimize overall driving performance. The system covers a broad capability surface including end-to-end driving pipelines, veh

:robot: The MoveIt motion planning framework

A fast trajectory optimization library written in Julia