Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

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

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

Adaptive importance sampling modification to MPPI

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).

off-road navigation simulator for benchmarking planning algorithms

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.

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.

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

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

A topology aware sampling-based global planner for dynamic 2D environments

Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.

Implementations with interactive visualizations of multiple motion planning algorithms.

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.

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

Sampling-based reactive replanning algorithm in dynamic environments

ROS packages for Path planning of Self-Reconfigurable Robots

Constrained Motion Planning Method with Latent Jumps