A curated list of libraries, softwares, simulators for robotics. Recently, I added a list of important books and conferences for Robotics.
Note: The data in this repository is updated and accurate to the best of my knowledge. In case of any correction, deletion or addition of information please raise an issue. A mail can also be written to [[email protected]].
- Libraries
- Visualization
- Robot Vision
- Robot Perception
- Motion Planning
- Graphics Engine/ Environments
- SLAM
- Some cool repositories
- Other essential packages and libraries
- Textbooks
- Scientific-journals
- Series-of-international-scientific-conferences
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Pybotics - python based library for roboti kinematics and calibration. It is mainly designed to work on Denavit–Hartenberg parameters principle. [github
]
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PyBullet - a python module for physics simulation of robots, loading URDF, SDF, MJCF files etc.[github
]
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Pygame - a library for used for game development and creating objects in 2D space.[github
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pclpy 0.11.0 - a library used for creating point clouds for applications related to computer vision, robotics and computer graphics. [github
]
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collision - this library is mainly used for collision checking in 2D space along with pygame. [github
]
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Ropy - A library by Peter Corke based on the paper "Maximising manipulability during resolved-rate motion control,".[github
][Paper]
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pybotvac - This is an unofficial API for controlling Neato Botvac Connected vacuum robots. [github
]
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pybot - Research tools for autonomous systems using Python. [github
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PyBot - a python module for creating and deploying twitter bots. [github
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pybotgram - A Telegram Bot written in Python with plugins based in yagop telegram-bot using tg. [github
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pyrobottraining- This is a repository that can be used as a tool to teach you about programming an FRC robot using python and the RobotPy WPILib libraries.[github
]
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airobot - AIRobot is a python library to interface with robots. It follows a similar architecture from PyRobot. [github
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ropy - A successor to the famous Peter Corke's robotics toolbox, this library is written in python to control robots in a simulated environments. [github
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MRPT - Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. [github
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Flexible collision library - this is mainly used for collision checking in 3D space in motion planning. [github
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Trajopt - is a C++ based library by UC berkeley for Motion planning, trajectory optimisation, etc. [github
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Eprosima - eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium [github
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Sophus - This is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications).[github
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ModernRoboticsCpp - Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. [github
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FIESTA: Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance_ and gradient information against obstacles. [github
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VTKexamples - a library based on pyhton for collision detection, making 3D meshes etc. [github
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Pyglet - a library primarily used for game development and computer graphics applications.[github
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PyOpenGL - a cross platform library based on python and OpenGL. [github
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OpenCV - OpenCV (Open Source Computer Vision Library) is an open source computer vision and machine learning software library. OpenCV was built to provide a common infrastructure for computer vision applications and to accelerate the use of machine perception in the commercial products. [github
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SimpleCV - SimpleCV is an open source framework for building computer vision applications. With it, you get access to several high-powered computer vision libraries such as OpenCV – without having to first learn about bit depths, file formats, color spaces, buffer management, eigenvalues, or matrix versus bitmap storage. [github
]
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ViSP - Visual Servoing Platform [github
]
- CUDA Visual Library - This library focuses on the front-end of VIO pipelines.[github
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sparse-rrt 0.0.2 - This package is based on Sparse-RRT project sparse_rrt.The main purpose of this work is to allow running Sparse-RRT planner in python environment.[github
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OMPL - OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision checking or visualization.[github
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MPL - Motion Planning Kit (MPK) is a C++ library and toolkit for developing single- and multi-robot motion planners.Documentaion
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Robotics Library - The Robotics Library (RL) is a self-contained C++ library for robot kinematics, motion planning and control. It covers mathematics, kinematics and dynamics, hardware abstraction, motion planning, collision detection, and visualization.Documentation
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SIMOX - The aim of the lightweight platform independent C++ toolbox Simox is to provide a set of algorithms for 3D simulation of robot systems, sampling based motion planning and grasp planning.[github
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AIKIDO - Solving robotic motion planning and decision making problems. [github
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TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [github
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The Kautham Project - A robot simulation toolkit for motion planning [github
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ROS Behavior Tree - [github
]
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OCS2 - Efficient continuous and discrete time optimal control implementation [bitbucket]
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GPMP2 - Gaussian Process Motion Planner 2 [github
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Crocoddyl - Optimal control library for robot control under contact sequence [github
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Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [github
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Tesseract - A major planning framework for forward and inverse kinematics. [github
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MRSL - A search-based planner for quadcoptors in obstacle cluttered environment. [github
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OpenRave( Open Robotics Automation Virtual Environment) - it focuses on developing and testing motion planning algorithms for robotic applications. It is available in C++, Python. Documentation
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Webots - It provides a complete development environment to model, program and simulate robots, vehicles and biomechanical systems.[github
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Stage - Stage is a 2(.5)D robotics standalone simulator and can also be used as a C++ library to build your own simulation environment. [github
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Player - is one of the most popular mobile robot simulator. [github
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RoboDK - is a robot simulator which allows programming and simulating any robot online and offline. It is mailny used for industrial applications. [github
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Mobile Robot Simulator - Mobile robot simulator in MATLAB.[github
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AprilSAM - Real-time smoothing and mapping [github
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Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations [github
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DSO - Novel direct and sparse formulation for Visual Odometry [github
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ElasticFusion - Real-time dense visual SLAM system [github
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fiducials - Simultaneous localization and mapping using fiducial markers [github
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GTSAM - Smoothing and mapping (SAM) in robotics and vision [github
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Kintinuous - Real-time large scale dense visual SLAM system [github
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LSD-SLAM - Real-time monocular SLAM [github
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ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras [github
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RTAP-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [github
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SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [github
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ROS - ROS is a meta-operating system for your robot. It provides language-independent and network-transparent communication for adistributed robot control system. [github
)]
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trimesh - a package for loading and making meshes. [github
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Tkinter - a package used for visualization. documentation tutorial
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Pymesh - is a python based rapid prototyping platform for geometric and computer vision applications.[github
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Mesh -A Processing library for computing convex hulls, delaunay graphs and voronoi graphs from groups of points.[github
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OpenMesh - A generic and efficient polygon mesh data structure. Relocated-to-this [Docs]
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libigl - A simple C++ geometry processing library[github
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PyGEL - Python library for geometry processing [github
] [Docs]
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pmp-library - C++ based library for processing and generating meshes. [github
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Delynoi: an object-oriented C++ library for the generation of polygonal meshes [github
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Cinolib: a Generic Programming Header Only C++ Library for Processing Polygonal and Polyhedral Meshes[github
] paper
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cilantro - A lean C++ library for working with point cloud data.[github
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PDAL - Point Data Abstraction Library, is a C++ BSD library for translating and manipulating point cloud data. It is very much like the GDAL library which handles raster and vector data.[github
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LEPCC - Limited Error Point Cloud Compression, a library written in C++ for point cloud compression.[github
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chainer - flexible framework for working with neural networks. [github
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shogun - a machine learning toolbox build on C++. It also supports python. [github
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Apache Spark - Spark is a unified analytics engine for large-scale data processing. [github
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Pinocchio - instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm. [github
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Crocoddyl - Contact RObot COntrol by Differential DYnamic programming Library. [github
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FCL- FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles.. [github
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H. Asada, J.-J.E. Slotine, Robot Analysis and Control, Wiley, New York, 1986.
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G.A. Bekey, Autonomous Robots, MIT Press, Cambridge, MA, 2005.
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A.J. Critchlow, Introduction to Robotics, Macmillan, New York, 1985.
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J.F. Engelberger, Robotics in Practice, Amacom, New York, 1980.
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J.F. Engelberger, Robotics in Service, MIT Press, Cambridge, MA, 1989.
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A.J. Koivo, Fundamentals for Control of Robotic Manipulators, Wiley,New York, 1989.
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Y. Koren, Robotics for Engineers, McGraw-Hill, New York, 1985.
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F.L. Lewis, C.T. Abdallah, D.M. Dawson, Control of Robot Manipulators,Macmillan, New York, 1993.
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P.J. McKerrow, Introduction to Robotics, Addison-Wesley, Sydney, Australia, 1991.
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R.P. Paul, Robot Manipulators: Mathematics, Programming, and Control MIT Press, Cambridge, MA, 1981.
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M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley, New York, 2006.
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M. Vukobratovi ́c, Introduction to Robotics, Springer-Verlag, Berlin, Ger- many, 1989.
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T. Yoshikawa, Foundations of Robotics, MIT Press, Boston, MA, 1990.
- Advanced Robotics
- Autonomous Robots
- IEEE Robotics and Automation Magazine
- IEEE Transactions on Robotics
- International Journal of Robotics Research
- Journal of Field Robotics
- Journal of Intelligent and Robotic Systems
- Robotica
- Robotics and Autonomous Systems
- Frontiers in Robotics and AI
- International Journal of Social Robotics
- Soft Robotics
- Science Robotics
- Robotics and Computer-Integrated Manufacturing
- EEE Robotics and Automation Letters
- IEEE/RSJ International Conference on Intelligent Robots and Systems
- IEEE International Conference on Robotics and Automation
- IEEE/RSJ International Conference on Intelligent Robots and Systems
- International Conference on Advanced Robotics
- International Symposium of Robotics Research
- International Symposium on Experimental Robotics
- Robotics: Science and Systems
- ACM/IEEE International Conference on Human Robot Interaction
- Robotics: Science and Systems