1.google-deepmind / mujoco
Multi-Joint dynamics with Contact. A general purpose physics simulator.
+1,649 stars
from 14,411 · score 7.41
Trending repositories
Ranked by Attention Score: stars gained over the last 90 complete days
92 repositories by Attention Score · Aug 7, 2026 – Nov 4, 2026 (UTC)
2.ArduPilot / ardupilot
ArduPlane, ArduCopter, ArduRover, ArduSub source
- arducopter
- ardupilot
- arduplane
- ardurover
- ardusub
- uav
- +14 more
+740 stars
from 15,579 · score 6.61
+652 stars
from 12,316 · score 6.48
4.carla-simulator / carla
Open-source simulator for autonomous driving research.
- simulator
- autonomous-vehicles
- autonomous-driving
- research
- ai
- artificial-intelligence
- +11 more
+342 stars
from 14,224 · score 5.84
5.UZ-SLAMLab / ORB_SLAM3
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
- slam-algorithms
+332 stars
from 8,888 · score 5.81
6.microsoft / AirSim
Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
+272 stars
from 18,329 · score 5.61
7.cyberbotics / webots
Webots Robot Simulator
- robotics
- robot
- simulator
- simulation
- ros
- physics-engine
- +14 more
+233 stars
from 4,516 · score 5.46
8.bulletphysics / bullet3
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
- reinforcement-learning
- computer-animation
- +3 more
+219 stars
from 14,626 · score 5.39
9.stack-of-tasks / pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
- robotics
- dynamics
- analytical-derivatives
- kinematics
- c-plus-plus
- rigid-body-dynamics
- +11 more
+215 stars
from 3,623 · score 5.38
10.ethz-asl / kalibr
The Kalibr visual-inertial calibration toolbox
- camera
- calibration
- calibration-toolbox
- imu
+187 stars
from 5,611 · score 5.24
11.projectchrono / chrono
High-performance C++ library for multiphysics and multibody dynamics simulations
- simulation
- physics-simulation
- modeling
- robotics
- physics-engine
- multibody-dynamics
- +4 more
+182 stars
from 2,959 · score 5.21
12.ApolloAuto / apollo
An open autonomous driving platform
- apollo
- autonomous-vehicles
- autonomous-driving
- autonomy
- self-driving-car
+161 stars
from 26,726 · score 5.09
13.rpng / open_vins
An open source platform for visual-inertial navigation research.
- visual-inertial-odometry
- slam
- msckf
- sensor-calibration
- ekf-localization
- research-platform
- +3 more
+147 stars
from 3,021 · score 5.00
+146 stars
from 2,581 · score 4.99
15.BehaviorTree / BehaviorTree.CPP
Behavior Trees Library in C++. Batteries included.
+140 stars
from 4,141 · score 4.95
16.HKUST-Aerial-Robotics / VINS-Fusion
An optimization-based multi-sensor state estimator
+125 stars
from 4,647 · score 4.84
+119 stars
from 4,125 · score 4.79
18.SteveMacenski / slam_toolbox
Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
+119 stars
from 2,582 · score 4.79
19.TixiaoShan / LIO-SAM
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
- lidar-odometry
- lidar-slam
- loam-velodyne
- lidar-inertial
- 3d-mapping
- slam
- +4 more
+108 stars
from 4,863 · score 4.69
20.pantor / ruckig
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
- trajectory-generation
- robotics
- jerk-constrained
- time-optimal
- motion-planning
- robot-arm
- +1 more
+107 stars
from 1,324 · score 4.68
21.raulmur / ORB_SLAM2
Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
+90 stars
from 10,181 · score 4.51
22.PRBonn / kiss-icp
A LiDAR odometry pipeline that just works
+85 stars
from 2,283 · score 4.45
23.MOLAorg / mola
A Modular Optimization framework for Localization and mApping (MOLA)
- slam
- lidar
- lidar-point-cloud
- localization
- mobile-robots
- graph-slam
- +6 more
+80 stars
from 973 · score 4.39
+78 stars
from 2,114 · score 4.37
25.ANYbotics / grid_map
Universal grid map library for mobile robotic mapping
- ros
- grid-map
- mapping
- terrain
- height-map
- cpp
- +8 more
+74 stars
from 3,195 · score 4.32
26.Fields2Cover / Fields2Cover
Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
- agriculture
- autonomous-vehicles
- coverage-path-planning
- cpp17
- path-planning
+67 stars
from 854 · score 4.22
27.ANYbotics / elevation_mapping
Robot-centric elevation mapping for rough terrain navigation
+64 stars
from 1,836 · score 4.17
28.OctoMap / octomap
An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
+54 stars
from 2,346 · score 4.01
29.chvmp / champ
MIT Cheetah I Implementation
+54 stars
from 2,282 · score 4.01
+52 stars
from 1,393 · score 3.97
+50 stars
from 1,386 · score 3.93
32.cra-ros-pkg / robot_localization
robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
+49 stars
from 1,934 · score 3.91
33.alexliniger / MPCC
Model Predictive Contouring Controller (MPCC) for Autonomous Racing
+44 stars
from 1,843 · score 3.81
34.CopterExpress / clover
ROS-based framework and RPi image to control PX4-powered drones 🍀
- ros
- px4
- mavros
- aruco
- quadcopter
- computer-vision
- +5 more
+44 stars
from 650 · score 3.81
35.rst-tu-dortmund / teb_local_planner
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
- ros
- mobile-robots
- navigation
- trajectory-optimization
- optimal-control
- path-planning
+35 stars
from 1,331 · score 3.58
+30 stars
from 2,067 · score 3.43
37.SteveMacenski / spatio_temporal_voxel_layer
A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
+30 stars
from 848 · score 3.43
38.RainerKuemmerle / g2o
g2o: A General Framework for Graph Optimization
- g2o
- slam
- c-plus-plus
- graph-optimization
- cpp
+29 stars
from 3,449 · score 3.40
+26 stars
from 2,862 · score 3.30
40.wpilibsuite / allwpilib
Official Repository of WPILibJ and WPILibC
- wpilibc
- roborio
- hal
- wpilibj
- ntcore
- cscore
+25 stars
from 1,290 · score 3.26
41.koide3 / hdl_graph_slam
3D LIDAR-based Graph SLAM
- ros
- slam
- lidar
- velodyne
- hdl-graph-slam
- point-cloud
- +1 more
+24 stars
from 2,319 · score 3.22
42.ethz-adrl / control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
- optimal-control
- model-predictive-control
- ilqr
- ilqg
- robotics
- trajectory-optimization
- +9 more
+24 stars
from 1,698 · score 3.22
43.RobustFieldAutonomyLab / LeGO-LOAM
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
- loam
- iros
- ieee
- lidar
- odometry
- slam
- +9 more
+23 stars
from 2,746 · score 3.18
44.MRPT / mrpt
:zap: The Mobile Robot Programming Toolkit (MRPT)
- mrpt
- c-plus-plus
- mobile-robotics
- slam
- autonomous-driving
- computer-vision
- +7 more
+22 stars
from 2,151 · score 3.14
+20 stars
from 2,429 · score 3.04
46.hku-mars / loam_livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
- loam
- livox-lidar
+18 stars
from 1,612 · score 2.94
47.norlab-ulaval / libpointmatcher
An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
+16 stars
from 1,826 · score 2.83
48.locusrobotics / fuse
The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
+16 stars
from 869 · score 2.83
+15 stars
from 2,718 · score 2.77
50.karlkurzer / path_planner
Hybrid A* Path Planner for the KTH Research Concept Vehicle
- motion-planning
- planning-algorithms
- robotics
+15 stars
from 1,906 · score 2.77
+15 stars
from 1,494 · score 2.77
+12 stars
from 2,225 · score 2.56
+12 stars
from 1,260 · score 2.56
54.leggedrobotics / se2_navigation
Pure Pursuit Control and SE(2) Planning
- planning
- car
- vehicle
- pure-pursuit
- reeds-shepp
- control
- +6 more
+12 stars
from 600 · score 2.56
55.neka-nat / cupoch
Robotics with GPU computing
+11 stars
from 1,054 · score 2.48
56.rdiankov / openrave
Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
+11 stars
from 812 · score 2.48
+11 stars
from 765 · score 2.48
+11 stars
from 365 · score 2.48
59.PetWorm / LARVIO
A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
- visual-inertial-odometry
- msckf
- localization
- ekf-mono-slam
- sensor-calibration
- larvio
- +3 more
+10 stars
from 801 · score 2.40
60.MIT-SPARK / Kimera-Semantics
Real-Time 3D Semantic Reconstruction from 2D data
- semantic-segmentation
- volumetric-reconstruction
- 3d-reconstruction
- robotics
- mapping
- reconstruction
- +7 more
+10 stars
from 746 · score 2.40
61.rbdl / rbdl
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
- inverse-kinematics
- robotics
+10 stars
from 699 · score 2.40
+9 stars
from 1,629 · score 2.30
+9 stars
from 1,035 · score 2.30
64.hyye / lio-mapping
Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
- sensor-fusion
- slam
- mapping
- icra2019
+9 stars
from 1,025 · score 2.30
+9 stars
from 644 · score 2.30
66.laboshinl / loam_velodyne
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
- velodyne
- ros
- loam-velodyne
- lidar
- pointcloud
- pcl
- +5 more
+8 stars
from 1,755 · score 2.20
67.PRBonn / semantic_suma
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
- rangenet-lib
- suma
- lidar
- slam
- semantic
- 3d-lidar
- +1 more
+7 stars
from 1,012 · score 2.08
68.srl-freiburg / pedsim_ros
Pedestrian simulator powered by the social force model
- ros
- social-force-model
- crowd
- pedsim
- pedestrian
- simulation-environment
- +1 more
+7 stars
from 586 · score 2.08
69.gogojjh / M-LOAM
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
- robotics
- lidar
- slam
- calibration
+6 stars
from 518 · score 1.95
70.koide3 / interactive_slam
Interactive Map Correction for 3D Graph SLAM
+5 stars
from 966 · score 1.79
71.carlosmccosta / dynamic_robot_localization
Point cloud registration pipeline for robot localization and 3D perception
- robot-localization
- localization
- robotics
- mapping
- pcl
- lidar
- +7 more
+5 stars
from 898 · score 1.79
72.atenpas / gpd
Detect 6-DOF grasp poses in point clouds
+5 stars
from 763 · score 1.79
73.at-wat / mcl_3dl
A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
+5 stars
from 599 · score 1.79
74.HKUST-Aerial-Robotics / ESVO
This repository maintains the implementation of "Event-based Stereo Visual Odometry".
+5 stars
from 503 · score 1.79
+5 stars
from 422 · score 1.79
76.robosoft-ai / SMACC
An Event-Driven, Asynchronous, Behavioral State Machine Library for ROS (Robotic Operating System) applications written in C++
- state-machine
- ros
- ros-packages
- navigation
- mobile-robots
- c-plus-plus
- +1 more
+5 stars
from 324 · score 1.79
+4 stars
from 665 · score 1.61
78.TixiaoShan / traversability_mapping
Bayesian Generalized Kernel Inference for Terrain Traversability Mapping
+4 stars
from 341 · score 1.61
79.TUC-ProAut / libRSF
A robust sensor fusion library for online localization.
- sensorfusion
- estimation-algorithm
- gnss
- ranging
- localization
- robotics
+4 stars
from 335 · score 1.61
80.wh200720041 / floam
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
- loam
- slam
- aloam
- localization
- robotics
+3 stars
from 1,142 · score 1.39
81.FidoProject / Fido
A lightweight C++ machine learning library for embedded electronics and robotics.
+3 stars
from 462 · score 1.39
82.miccol / ROS-Behavior-Tree
Behavior Trees Library for ROS (Robot Operating System). In C++ and python
- behavior-trees
- behavior-tree
- ros
+3 stars
from 364 · score 1.39
83.hbanzhaf / steering_functions
The repository host gives no description.
+3 stars
from 256 · score 1.39
+2 stars
from 1,096 · score 1.10
+2 stars
from 885 · score 1.10
86.izhengfan / se2lam
(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
+2 stars
from 410 · score 1.10
+2 stars
from 350 · score 1.10
88.UMich-BipedLab / LiDARTag
This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
- fiducial-markers
- lidar
- point-clouds
- cassie
- robotics
- calibration
- +6 more
+2 stars
from 284 · score 1.10
89.ucla-vision / xivo
X Inertial-aided Visual Odometry
- vio
- visual-inertial
- odometry
- slam
- localization
- sensor-fusion
- +1 more
+1 stars
from 889 · score 0.69
90.floatlazer / semantic_slam
Real time semantic slam in ROS with a hand held RGB-D camera
- semantic-segmentation
- slam
- semantic-slam
- octomap
- ros
- 3d-reconstruction
+1 stars
from 716 · score 0.69
91.osrf / car_demoArchived
This demo was built on ROS Kinetic and Gazebo Classic, both of which are now EOL
+1 stars
from 556 · score 0.69
92.RoboJackets / rrtArchived
C++ RRT (Rapidly-exploring Random Tree) Implementation
- rrt
- path-planning
- robotics
- robojackets
- robocup
- small-size-league
- +2 more
+1 stars
from 263 · score 0.69