⚡ The Mobile Robot Programming Toolkit (MRPT)

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

ManyEars Sound Source Localization, Tracking and Separation

Pure Pursuit Control and SE(2) Planning

A Modular Optimization framework for Localization and mApping (MOLA)

Differential drive mobile robot using ROS.

An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS (Robotic Operating System) applications written in C++

Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.

An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS2 (Robotic Operating System) applications written in C++

[RA-L 2022] FISS: A Trajectory Planning Framework using Fast Iterative Search and Sampling Strategy for Autonomous Driving

NUS ME5413 Autonomous Mobile Robotics Planning Project

Implementation of the Frenet Optimal Planning Algorithm (with modifications) in ROS.

Tentabot: Navigation Framework for Mobile Robots by Evaluating Motion Primitives (Tentacles)

The goal of this repository is to introduce a new, customizable, scalable, and fully opensource mobile robot platform, called SMARTmBOT. This repository provides a guide, and all design files and source codes so that you can build your own SMARTmBOT. SMARTmBOT can be useful for studying the basics of robotics, especially mobile robotics. It can …

The Spacedyn is a library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base written as MATLAB toolbox or C++ library. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which make motions in th…

ROS package for online trajectory generation and tracking using nonlinear control law for ground vehicle

Four-wheeled robot interfaced with ROS through a Raspberry Pi. Low level control of the L298N motor drivers via Arduino UNO controller. Developed ROS modules for perception tasks, visual servoing, and task planning in C++ and Python.

This local planner implements the local planning method used in Tier IV's Autoware OpenPlanner (Local Planner), with modifications to suit our application.