[CVPR 2023 Best Paper Award] Planning-oriented Autonomous Driving

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

A Robust and Efficient Trajectory Planner for Quadrotors

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Robotics Toolbox for Python

:sunglasses: A curated list of robotics libraries and software

Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

The Open Motion Planning Library (OMPL)

Hybrid A* Path Planner for the KTH Research Concept Vehicle

Fast symbolic computation, code generation, and nonlinear optimization for robotics

Robotics Toolbox for MATLAB

CUDA Accelerated Robot Library

Human Pose Estimation Related Publication

An Efficient Framework for Fast UAV Exploration

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

A General-Purpose Trajectory Optimizer for Multicopters

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

References on Optimal Control, Reinforcement Learning and Motion Planning

Optimal Reciprocal Collision Avoidance (C++)

Summary of key papers and blogs about diffusion models to learn about the topic. Detailed list of all published diffusion robotics papers.

[ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning for Autonomous Driving with Flexible Guidance"

Hybrid A*路径规划器的代码注释

[TRO 2025] NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning.

robotic motion planning library

Optimal Reciprocal Collision Avoidance (C#)

n-dimensional RRT, RRT* (RRT-Star)