Computationally fast and time-optimal trajectory planner.

This repository represents my work through out the "Robotics: Computational Motion Planning" course offered by University of Pennsylvania which is available on Coursera onlilne learning platform.

[ICRA 2025] XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning

Implementation of some path planning algorithms.

Demonstrate how obstacles in xyz space can be translated into C Space coordinates

Real-time algorithms for following a given path while avoiding initially unknown static obstacles.

Computes free splittings of graph braid groups.

A collection of motion planning projects in Python 3 and YAML

ENPM661 Project 2: A point robot uses the Dijkstra search algorithm to find a goal node in a configuration space, while avoiding the obstacles in the map

Computes presentations of graph braid groups.

Utilities for generating and visualizing a configuration space with 3D obstacles to test pathfinding algorithms

Path Finding Task

Rutgers CS 2-Link Arm Configuration Space

Solver for 2D kinematic chain with one revolute joint. Includes path finding (with constraints).