This repository contains the code for the Realistic Multi-Robot Coordination (ReMRoC) Framework.

Virtual worlds from the DARPA subterranean challenge

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

Gaussian Process-based Traversability Analysis for Terrain Mapless Navigation (ICRA 2024)

PyTorch implementation of paper: GaussNav: Gaussian Splatting for Visual Navigation

Tutorial code referenced in https://docs.nav2.org/

An open autonomous driving platform

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area

Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

Documentation of open resources developed by competitors in the SubT Challenge, including open-source software and datasets.

3D mapping tools for robotic applications

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

A novel framework that utilizes a Sparse Gaussian Process (SGP) to assist robots in navigating autonomously on uneven terrains without using a global map.

Trajectory generation on point clouds

The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain

Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"

ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).

The ROAMFREE sensor fusion library

Optimal Reciprocal Collision Avoidance (C++)

Graph-based Exploration Planner for Subterranean Environments

Index repo for Kimera code

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

Form Building using drag-and-drop. Uses Quasar Framework and Vue.

Tools for GPS navigation in ROS

Semantic Segmentation of Images and Point Clouds for Traversability Estimation

OpenPCDet for ROS noetic, docker image also provided