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    34 repositories

    • MeshAStar

      Public
      Efficient Lattice-Based Planning With MeshA* algorithm (AAAI 2026).
      Python
      •
      MIT License
      •0•7•0•0•Updated Mar 22, 2026Mar 22, 2026

    • 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 f…
      Jupyter Notebook
      •
      MIT License
      •3•18•0•0•Updated Mar 13, 2026Mar 13, 2026

    • 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++
      •2•0•0•0•Updated Mar 12, 2026Mar 12, 2026

    • ompl

      Public
      The Open Motion Planning Library (OMPL). Fork for adapting profiler for SI-RRT comparison and additional fixes.
      C++
      •
      Other
      •685•0•0•0•Updated Mar 11, 2026Mar 11, 2026

    • CubicPrimitivesGenerator

      Public
      Jupyter Notebook
      •0•1•0•0•Updated Jan 5, 2026Jan 5, 2026

    • Decentralized-Unlabeled-Navigation

      Public
      0•2•0•0•Updated Dec 15, 2025Dec 15, 2025

    • MPPI-Collision-Avoidance

      Public
      Jupyter Notebook
      •5•30•1•0•Updated Jul 29, 2025Jul 29, 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 discretiz…
      pathfindingmulti-agentcbs
      pathfindingmulti-agentcbsmapfpathplanningconflict-based-search
      C++
      •
      MIT License
      •59•263•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

    • ORCA-algorithm

      Public
      Implementation of ORCA algorithm
      C++
      •29•173•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++
      •4•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 a…
      C++
      •
      MIT License
      •8•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•37•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…
      pathfindingmulti-agentsipp
      pathfindingmulti-agentsippmapfpathplanningany-angle
      C++
      •
      MIT License
      •37•124•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++
      •11•34•0•0•Updated Nov 2, 2021Nov 2, 2021

    • TO-AA-SIPP

      Public
      Time-Optimal Any-Angle Safe Interval Path Planning
      C++
      •2•10•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++
      •31•71•1•1•Updated Mar 9, 2021Mar 9, 2021

    • CBS--PrioritizedPlanning--MP

      Public
      C++
      •2•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•21•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•99•1•0•Updated Apr 20, 2020Apr 20, 2020

    • CBS-SIPP

      Public
      C++ implementation of CBS with using SIPP as a low-level planner
      C++
      •2•11•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
      grid-searchdynamic-searchpathplanninglian
      Jupyter Notebook
      •1•3•0•0•Updated Aug 23, 2018Aug 23, 2018

    • ASearchVisualizer

      Public
      Program for visualization of detailed logs of path planning algorithms
      astarpathfindingvisualizer
      astarpathfindingvisualizerpathplanning
      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•25•0•0•Updated Nov 2, 2017Nov 2, 2017
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