A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

Adaptive importance sampling modification to MPPI

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

Sampling based Model Predictive Control package for Model-Based RL research

A ROS package of a autonomous navigation method based on SAC and Bidirectional RRT* (Repository RL-RRT-Global-Planner).

CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces (AAMAS-22)

A ROS package of a path-planning method based on Bidirectional RRT*, which use the intermidiate points as the global information instead of the full path.

off-road navigation simulator for benchmarking planning algorithms

The repository contains a ROS-based implementation of a library of sampling-based robot path replanning algorithms. It also develops a framework to manage trajectory execution with continuous path replanning and collision checking of the current path.

This repository implements various Search Based (Heuristic and Incremental) and Sampling Based (Multi Query and Single Query) motion planning algorithms using ROS and turtlebot

Implementations with interactive visualizations of multiple motion planning algorithms.

A 2D simulation in Pygame of the paper "Randomized Kinodynamic Planning" by Steven M. LaValle, and James J. Kuffner, Jr.

A 2D simulation in Pygame of the paper "Probabilistic roadmaps for path planning in high-dimensional configuration spaces" by L.E. Kavraki, P. Svestka, J.-C. Latombe, and M.H. Overmars.

Sampling-based reactive replanning algorithm in dynamic environments

A 2D simulation in Pygame of the paper "Rapidly-exploring random trees: A new tool for path planning" by Steven M. LaValle.

ROS packages for Path planning of Self-Reconfigurable Robots

Basic tutorials and examples of using numba for GPU-based computation.

Visualization of Various Sampling-Based Path Planning Algorithms for a Non-Holonomic Autonomous Vehicle

A 2D simulation in Pygame of the paper "Visibility-based Probabilistic Roadmaps for Motion Planning" by T. Siméon, J-P. Laumond, and C. Nissoux.

An implementation of Rapidly-exploring Random Trees in 2D