Robotics and Control Theory

Robot S/W Platform and Middleware

  • ROS : Robot Operating System, a set of software libraries and tools that help you build robot applications
    • rviz : 3D visualization tool for ROS
  • The Player Project : Free software tools for robot and sensor applications
    • Stage : 2D multiple robot simulator
  • OpenRTM-aist : the RT middleware, an open source robotic technology middleware
  • MOOS : Mission Oriented Operating Suite, a C++ cross platform middle ware for robotics research
  • OpenMORA : Open Mobile Robot Architecture, a MOOS and MRPT-based distributed architecture for mobile robots
  • The Orocos Project : Open RObot Control Software, portable C++ libraries for advanced machine and robot control
  • URBI : Universal Real-time Behavior Interface
  • OpenJAUS : the Open Joint Architecture for Unmanned Systems
  • MRDS : Microsoft Robotics Developer Studio
  • Dronecode : The open source UAV platform

General-Purpose Library

  • MRPT : Mobile Robot Programming Toolkit, portable and well-tested applications and libraries covering data structures and algorithms employed in common robotics research areas
  • Orca : an open-source framework for developing component-based robotic systems
  • Robotics Toolbox
  • The Robotics Library (RL) : a self-contained C++ library for robot kinematics, motion planning and control
  • Flyver-SDK : Software Development Kit for drones

Navigation and SLAM

  • Carmen Robot Navigation Toolkit : the Carnegie Mellon Robot Navigation Toolkit, an open-source collection of software for mobile robot control
  • The CAS Robot Navigation Toolbox : a GNU GPL licenced Matlab toolbox for robot localization and mapping
  • OpenSLAM
  • Java FastSLAM : a Java implementation of part of Sebastian Thrun's group's FastSLAM algorithm
  • OpenFABMAP : an open and modifiable code-source which implements the Fast Appearance-based Mapping algorithm (FAB-MAP) originally developed by Mark Cummins and Paul Newman
  • OctoMap
  • LIBVISO2 : C++ Library for Visual Odometry 2

Task and Motion Planning

  • OMPL : Open Motion Planning Library, many state-of-the-art sampling-based motion planning algorithms
  • MSL : Motion Strategy Library
  • MPK : Motion Planning Kit, a C++ library and toolkit for developing single- and multi-robot motion planners
  • OpenRAVE : an environment for testing, developing, and deploying motion planning algorithms in real-world robotics applications
  • RRTs : Rapidly-exploring Random Trees
  • OpenPRM : an open source implementation of varous sample based robot motion planning algorithms mostly based on probabilistic roadmap
  • RVO2 Library : Reciprocal Collision Avoidance for Real-Time Multi-Agent Simulation
  • HRVO : the Hybrid Reciprocal Velocity Obstacle

Manipulation and Dexterity

  • MoveIt! : state of the art software for mobile manipulation, incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation
  • OpenGRASP : an open source simulation toolkit for grasping and dexterous manipulation

Control Theory

  • ViSP : Visual Servoing Platform, Open source visual servoing platform library

Simulation

  • Gazebo : a multi-robot simulator for outdoor environments
  • V-REP : virtual robot experimentation platform, the Swiss army knife among robot simulators