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GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark

DyNet: The Dynamic Neural Network Toolkit

Massively parallel rigidbody physics simulation on accelerator hardware.

Isaac Gym Environments for Legged Robots

High-performance C++ library for multiphysics and multibody dynamics simulations

NSGA2, NSGA3, R-NSGA3, MOEAD, Genetic Algorithms (GA), Differential Evolution (DE), CMAES, PSO

NSGA2, NSGA3, R-NSGA3, MOEAD, Genetic Algorithms (GA), Differential Evolution (DE), CMAES, PSO

LSD-SLAM

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

C++ implementation of Lie Groups using Eigen.

Direct Sparse Odometry

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

Fast Library for Approximate Nearest Neighbors

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

The Operator Splitting QP Solver

The Open Motion Planning Library (OMPL)

:zap: The Mobile Robot Programming Toolkit (MRPT)

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

Fluid simulation engine for computer graphics applications

:robot: The MoveIt motion planning framework

CUDA Accelerated Robot Library

Real-time dense visual SLAM system

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics