Ghimo is a framework for "Generic hierarchical robot motion":
- it targets wheeled robots, autonomous cars, aerial robots, as well as multi-joints manipulators and legged robots
- it is both a conceptual framework and a software library
- it encompasses topics related to robot motion, such as planning, execution, and control
- as a conceptual framework, it tries to put together and generalize many different methods, algorithms and frameworks currently used by the robotic community
- as a software library, it provides both C/C++ and Python APIs
I started working on this framework during my Master thesis (here, in Italian only, where I developed algorithms for the motion of wheeled robots) and my PhD thesis (Mobile robots and vehicles motion systems: a unifying framework, where I started working on the generalization of the framework).
Note
This repository is currently only containing unsorted, chaotic and bad code and documentation from my past work (mainly my Master and PhD theses). This material will undergo a complete refactoring sometime soon, but it is currently not usable.