Repositories list

• ManipulationPlanning-SI-RRT

  Public
  Combination of Rapidly-Exporing Random Trees (RRT) and Safe Interval Path Planning (SIPP) for high-DOF planning in dynamic environments, i.e. planning a path for a manipulator when moving obstacles are present (and their trajectories are know/accurately predicted)

  Jupyter Notebook

  •

  MIT License

  •1•11•0•0•Updated Aug 12, 2025Aug 12, 2025

• MPPI-Collision-Avoidance

  Public
  Jupyter Notebook

  •4•20•1•0•Updated Jul 29, 2025Jul 29, 2025

• RPMPLv2

  Public
  Rapid Prototyping Motion Planning Library v2 (C++). Our fork adapts code to our implementation of collision detector for comparison with SI-RRT.

  C++

  •3•0•0•0•Updated Jul 10, 2025Jul 10, 2025

• CubicPrimitivesGenerator

  Public
  0•0•0•0•Updated Jul 9, 2025Jul 9, 2025

• Continuous-CBS

  Public
  Continuous CBS - a modification of conflict based search algorithm, that allows to perform actions (move, wait) of arbitrary duration. Timeline is not discretized, i.e. is continuous.

  pathfindingmulti-agentcbs+ 3mapfpathplanningconflict-based-search

  C++

  •

  MIT License

  •57•249•4•0•Updated May 30, 2025May 30, 2025

• TP-SWAP

  Public
  Source code and data for algorithms designed for decentralized anonymous/unlabeled multi-agent pathfinding (AMAPF)

  Python

  •0•7•0•0•Updated Dec 30, 2024Dec 30, 2024

• ompl

  Public
  The Open Motion Planning Library (OMPL). Fork for adapting profiler for SI-RRT comparison and additional fixes.

  C++

  •

  Other

  •642•0•0•0•Updated Nov 28, 2024Nov 28, 2024

• Decentralized-Unlabeled-Navigation

  Public
  0•1•0•0•Updated Oct 1, 2024Oct 1, 2024

• ORCA-algorithm

  Public
  Implementation of ORCA algorithm

  C++

  •25•149•3•0•Updated Mar 27, 2024Mar 27, 2024

• LIAN

  Public
  Heuristic search algorithm for generating smooth paths for single-shot grid-based 2D path finding.

  C++

  •5•4•0•1•Updated Jan 24, 2024Jan 24, 2024

• AMAPF-MF-BS

  Public
  Algorithm to solve Anonymous Multi Agent Path Finding problem with Maximum Flow reduction and fast Bulk search.

  Makefile

  •2•4•0•0•Updated Dec 19, 2023Dec 19, 2023

• SIPP-IP

  Public
  Safe Interval Path Planning with Intervals Projection (SIPP-IP) - a SIPP-based planner capable of handling non-instantaneous accelerations/decelerations of an agent (kinodynamic constraints).

  C++

  •

  MIT License

  •6•17•1•0•Updated Dec 1, 2022Dec 1, 2022

• Push-and-Rotate--CBS--PrioritizedPlanning

  Public
  3 algorithms for classical MAPF on 4 connected grid in one project

  C++

  •14•34•0•1•Updated Jun 30, 2022Jun 30, 2022

• AA-SIPP-m

  Public
  Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried…

  pathfindingmulti-agentsipp+ 3pathplanningany-anglemapf

  C++

  •

  MIT License

  •38•118•5•0•Updated Dec 5, 2021Dec 5, 2021

• SuboptimalSIPP

  Public
  Implementation of different versions of Safe Interval Path Planning algorithm that can find bounded-suboptimal solutions.

  C++

  •12•31•0•0•Updated Nov 2, 2021Nov 2, 2021

• TO-AA-SIPP

  Public
  Time-Optimal Any-Angle Safe Interval Path Planning

  C++

  •3•9•2•0•Updated Mar 13, 2021Mar 13, 2021

• AStar-JPS-ThetaStar

  Public
  Basic algorithms for single-shot grid-based 2D path finding: BFS, Dijkstra, A*, Jump Point Search (JPS), Theta*

  C++

  •30•72•1•1•Updated Mar 9, 2021Mar 9, 2021

• CBS--PrioritizedPlanning--MP

  Public
  C++

  •3•3•0•0•Updated Feb 9, 2021Feb 9, 2021

• GAN-Path-Finder

  Public
  Generative Adversarial Networks for Path Planning in 2D

  Python

  •5•26•1•0•Updated Dec 14, 2020Dec 14, 2020

• ORCAStarROS

  Public
  Decentralized navigation system based on ORCA and Theta* algorithms and implemented as ROS nodes

  C++

  •4•19•1•0•Updated Jul 15, 2020Jul 15, 2020

• 3D-AStar-ThetaStar

  Public
  Basic algorithms for height map based 3D path planning: BFS, Dijkstra, A*, Theta*

  C++

  •21•94•1•0•Updated Apr 20, 2020Apr 20, 2020

• CBS-SIPP

  Public
  C++ implementation of CBS with using SIPP as a low-level planner

  C++

  •3•10•0•0•Updated Nov 27, 2018Nov 27, 2018

• ASearchTestUtility

  Public
  A small utility for testing a performance of path planning algorithms

  Python

  •0•0•0•0•Updated Nov 2, 2018Nov 2, 2018

• AStar-DCO

  Public
  Path planning as heuristic search

  C++

  •1•0•0•0•Updated Aug 23, 2018Aug 23, 2018

• LPLian

  Public
  Lifelong Planning version of LIAN algorithm

  grid-searchdynamic-searchpathplanning+ 1lian

  Jupyter Notebook

  •2•3•0•0•Updated Aug 23, 2018Aug 23, 2018

• ASearchVisualizer

  Public
  Program for visualization of detailed logs of path planning algorithms

  astarpathfindingvisualizer+ 1pathplanning

  C++

  •

  GNU General Public License v3.0

  •1•2•0•0•Updated Mar 2, 2018Mar 2, 2018

• MultiRobotPathFinding-ROS-Gazebo-Demo

  Public
  Will appear soon.

  Python

  •1•5•0•0•Updated Nov 29, 2017Nov 29, 2017

• LIAN-old

  Public
  Algorithm for planning with turn angle limitation on grid maps.

  C++

  •1•1•0•0•Updated Nov 23, 2017Nov 23, 2017

• LPAstar

  Public
  Lifelong Planning A* (LPA*) is a replanning method that is an incremental version of A* algorithm for single-shot grid-based 2D path finding.

  C++

  •5•24•0•0•Updated Nov 2, 2017Nov 2, 2017

• DstarLite

  Public
  Repository provides an implementation of D*Lite algorithm adapted for single-shot grid-based 2D environment.

  C++

  •6•20•1•0•Updated Oct 26, 2017Oct 26, 2017