Multi-Joint dynamics with Contact. A general purpose physics simulator.
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Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
- simulation
- robotics
- kinematics
- virtual-reality
PX4 Autopilot Software
- px4
- pixhawk
- uav
- uas
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
- slam-algorithms
An optimization-based multi-sensor state estimator
Webots Robot Simulator
- robotics
- robot
- simulator
- simulation
pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.
- 3d-reconstruction
- depth-prediction
- feature-matching
- global-features
High-performance C++ library for multiphysics and multibody dynamics simulations
A Modular and Multi-Modal Mapping Framework
- mapping
- slam
- not-matlab
A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
- simulator
- unity
- game-engine
- autonomous
PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
- pybullet
- crazyflie
- robotics
- reinforcement-learning
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
- velodyne
- ros
- loam-velodyne
- lidar
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
- optimal-control
- model-predictive-control
- ilqr
- ilqg
DroneBridge is a system based on the WifiBroadcast approach. A bidirectional digital radio link between two endpoints is established using standard WiFi hardware and a custom protocol. DroneBridge is optimized for use in UAV applications and is a complete system. It is intended be a real alternative to other similar systems, such as DJI Lightbridge or OcuSync.
- msp
- telemetry
- wifibroadcast
- dronebridge
A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
- visual-inertial-odometry
- msckf
- localization
- ekf-mono-slam
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
- articulated-body-algorithm
- inverse-dynamics
- forward-dynamics
- multi-body-dynamics
This repository contains multiple approaches for generating global racetrajectories.
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
- robotics
- lidar
- slam
- calibration
Local trajectory planner based on a multilayer graph framework for autonomous race vehicles.
- planner
- graph
Multi primitive-to-primitive (MP2P) ICP algorithms in C++
- slam
- icp
- point-clouds
- registration