René's URL Explorer Experiment

Title: GitHub - AtsushiSakai/PythonRobotics: Python sample codes and textbook for robotics algorithms.

Open Graph Title: GitHub - AtsushiSakai/PythonRobotics: Python sample codes and textbook for robotics algorithms.

X Title: GitHub - AtsushiSakai/PythonRobotics: Python sample codes and textbook for robotics algorithms.

Description: Python sample codes and textbook for robotics algorithms. - AtsushiSakai/PythonRobotics

Open Graph Description: Python sample codes and textbook for robotics algorithms. - AtsushiSakai/PythonRobotics

X Description: Python sample codes and textbook for robotics algorithms. - AtsushiSakai/PythonRobotics

Opengraph URL: https://github.com/AtsushiSakai/PythonRobotics

X: @github

direct link

Domain: github.com

route-pattern	/:user_id/:repository
route-controller	files
route-action	disambiguate
fetch-nonce	v2:2331832f-53f2-71d7-9c8f-0a5fb753936b
current-catalog-service-hash	f3abb0cc802f3d7b95fc8762b94bdcb13bf39634c40c357301c4aa1d67a256fb
request-id	81C2:24546C:2950145:35CCABB:69646AC7
html-safe-nonce	741398d52560e6d1b77d0d0db4a21850b753ea48f81c2a0b424c406ab69caafa
visitor-payload	eyJyZWZlcnJlciI6IiIsInJlcXVlc3RfaWQiOiI4MUMyOjI0NTQ2QzoyOTUwMTQ1OjM1Q0NBQkI6Njk2NDZBQzciLCJ2aXNpdG9yX2lkIjoiNDEzOTA2MjEyODExMjA2OTMxOSIsInJlZ2lvbl9lZGdlIjoiaWFkIiwicmVnaW9uX3JlbmRlciI6ImlhZCJ9
visitor-hmac	af2875da5fc8c1749d18c3df2985423b8d70f97d3226eab8bbb45e0b803eb938
hovercard-subject-tag	repository:54376220
github-keyboard-shortcuts	repository,copilot
google-site-verification	Apib7-x98H0j5cPqHWwSMm6dNU4GmODRoqxLiDzdx9I
octolytics-url	https://collector.github.com/github/collect
analytics-location	//
fb:app_id	1401488693436528
apple-itunes-app	app-id=1477376905, app-argument=https://github.com/AtsushiSakai/PythonRobotics
twitter:image	https://repository-images.githubusercontent.com/54376220/325e6736-1bfb-4da7-8d4d-ae0720ecf69b
twitter:card	summary_large_image
og:image	https://repository-images.githubusercontent.com/54376220/325e6736-1bfb-4da7-8d4d-ae0720ecf69b
og:image:alt	Python sample codes and textbook for robotics algorithms. - AtsushiSakai/PythonRobotics
og:site_name	GitHub
og:type	object
hostname	github.com
expected-hostname	github.com
None	baa7d9900fdf7b27d604f36887af878d569cfbdcf97126832a5f4f0caf0c6ba5
turbo-cache-control	no-preview
go-import	github.com/AtsushiSakai/PythonRobotics git https://github.com/AtsushiSakai/PythonRobotics.git
octolytics-dimension-user_id	3813847
octolytics-dimension-user_login	AtsushiSakai
octolytics-dimension-repository_id	54376220
octolytics-dimension-repository_nwo	AtsushiSakai/PythonRobotics
octolytics-dimension-repository_public	true
octolytics-dimension-repository_is_fork	false
octolytics-dimension-repository_network_root_id	54376220
octolytics-dimension-repository_network_root_nwo	AtsushiSakai/PythonRobotics
turbo-body-classes	logged-out env-production page-responsive
disable-turbo	false
browser-stats-url	https://api.github.com/_private/browser/stats
browser-errors-url	https://api.github.com/_private/browser/errors
release	842eff1d11f899d02b6b3b98fa3ea4860e64b34e
ui-target	full
theme-color	#1e2327
color-scheme	light dark

Links:

Skip to content	https://github.com/AtsushiSakai/PythonRobotics#start-of-content
	https://github.com/
Sign in	https://github.com/login?return_to=https%3A%2F%2Fgithub.com%2FAtsushiSakai%2FPythonRobotics
GitHub CopilotWrite better code with AI	https://github.com/features/copilot
GitHub SparkBuild and deploy intelligent apps	https://github.com/features/spark
GitHub ModelsManage and compare prompts	https://github.com/features/models
MCP RegistryNewIntegrate external tools	https://github.com/mcp
ActionsAutomate any workflow	https://github.com/features/actions
CodespacesInstant dev environments	https://github.com/features/codespaces
IssuesPlan and track work	https://github.com/features/issues
Code ReviewManage code changes	https://github.com/features/code-review
GitHub Advanced SecurityFind and fix vulnerabilities	https://github.com/security/advanced-security
Code securitySecure your code as you build	https://github.com/security/advanced-security/code-security
Secret protectionStop leaks before they start	https://github.com/security/advanced-security/secret-protection
Why GitHub	https://github.com/why-github
Documentation	https://docs.github.com
Blog	https://github.blog
Changelog	https://github.blog/changelog
Marketplace	https://github.com/marketplace
View all features	https://github.com/features
Enterprises	https://github.com/enterprise
Small and medium teams	https://github.com/team
Startups	https://github.com/enterprise/startups
Nonprofits	https://github.com/solutions/industry/nonprofits
App Modernization	https://github.com/solutions/use-case/app-modernization
DevSecOps	https://github.com/solutions/use-case/devsecops
DevOps	https://github.com/solutions/use-case/devops
CI/CD	https://github.com/solutions/use-case/ci-cd
View all use cases	https://github.com/solutions/use-case
Healthcare	https://github.com/solutions/industry/healthcare
Financial services	https://github.com/solutions/industry/financial-services
Manufacturing	https://github.com/solutions/industry/manufacturing
Government	https://github.com/solutions/industry/government
View all industries	https://github.com/solutions/industry
View all solutions	https://github.com/solutions
AI	https://github.com/resources/articles?topic=ai
Software Development	https://github.com/resources/articles?topic=software-development
DevOps	https://github.com/resources/articles?topic=devops
Security	https://github.com/resources/articles?topic=security
View all topics	https://github.com/resources/articles
Customer stories	https://github.com/customer-stories
Events & webinars	https://github.com/resources/events
Ebooks & reports	https://github.com/resources/whitepapers
Business insights	https://github.com/solutions/executive-insights
GitHub Skills	https://skills.github.com
Documentation	https://docs.github.com
Customer support	https://support.github.com
Community forum	https://github.com/orgs/community/discussions
Trust center	https://github.com/trust-center
Partners	https://github.com/partners
GitHub SponsorsFund open source developers	https://github.com/sponsors
Security Lab	https://securitylab.github.com
Maintainer Community	https://maintainers.github.com
Accelerator	https://github.com/accelerator
Archive Program	https://archiveprogram.github.com
Topics	https://github.com/topics
Trending	https://github.com/trending
Collections	https://github.com/collections
Enterprise platformAI-powered developer platform	https://github.com/enterprise
GitHub Advanced SecurityEnterprise-grade security features	https://github.com/security/advanced-security
Copilot for BusinessEnterprise-grade AI features	https://github.com/features/copilot/copilot-business
Premium SupportEnterprise-grade 24/7 support	https://github.com/premium-support
Pricing	https://github.com/pricing
Search syntax tips	https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax
documentation	https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax
Sign in	https://github.com/login?return_to=https%3A%2F%2Fgithub.com%2FAtsushiSakai%2FPythonRobotics
Sign up	https://github.com/signup?ref_cta=Sign+up&ref_loc=header+logged+out&ref_page=%2F%3Cuser-name%3E%2F%3Crepo-name%3E&source=header-repo&source_repo=AtsushiSakai%2FPythonRobotics
Reload	https://github.com/AtsushiSakai/PythonRobotics
Reload	https://github.com/AtsushiSakai/PythonRobotics
Reload	https://github.com/AtsushiSakai/PythonRobotics
AtsushiSakai	https://github.com/AtsushiSakai
PythonRobotics	https://github.com/AtsushiSakai/PythonRobotics
Please reload this page	https://github.com/AtsushiSakai/PythonRobotics
Notifications	https://github.com/login?return_to=%2FAtsushiSakai%2FPythonRobotics
Fork 7.1k	https://github.com/login?return_to=%2FAtsushiSakai%2FPythonRobotics
Star 27.7k	https://github.com/login?return_to=%2FAtsushiSakai%2FPythonRobotics
atsushisakai.github.io/PythonRobotics/	https://atsushisakai.github.io/PythonRobotics/
View license	https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
27.7k stars	https://github.com/AtsushiSakai/PythonRobotics/stargazers
7.1k forks	https://github.com/AtsushiSakai/PythonRobotics/forks
Branches	https://github.com/AtsushiSakai/PythonRobotics/branches
Tags	https://github.com/AtsushiSakai/PythonRobotics/tags
Activity	https://github.com/AtsushiSakai/PythonRobotics/activity
Star	https://github.com/login?return_to=%2FAtsushiSakai%2FPythonRobotics
Notifications	https://github.com/login?return_to=%2FAtsushiSakai%2FPythonRobotics
Code	https://github.com/AtsushiSakai/PythonRobotics
Issues 15	https://github.com/AtsushiSakai/PythonRobotics/issues
Pull requests 14	https://github.com/AtsushiSakai/PythonRobotics/pulls
Discussions	https://github.com/AtsushiSakai/PythonRobotics/discussions
Actions	https://github.com/AtsushiSakai/PythonRobotics/actions
Projects 0	https://github.com/AtsushiSakai/PythonRobotics/projects
Wiki	https://github.com/AtsushiSakai/PythonRobotics/wiki
Security Uh oh! There was an error while loading. Please reload this page.	https://github.com/AtsushiSakai/PythonRobotics/security
Please reload this page	https://github.com/AtsushiSakai/PythonRobotics
Insights	https://github.com/AtsushiSakai/PythonRobotics/pulse
Code	https://github.com/AtsushiSakai/PythonRobotics
Issues	https://github.com/AtsushiSakai/PythonRobotics/issues
Pull requests	https://github.com/AtsushiSakai/PythonRobotics/pulls
Discussions	https://github.com/AtsushiSakai/PythonRobotics/discussions
Actions	https://github.com/AtsushiSakai/PythonRobotics/actions
Projects	https://github.com/AtsushiSakai/PythonRobotics/projects
Wiki	https://github.com/AtsushiSakai/PythonRobotics/wiki
Security	https://github.com/AtsushiSakai/PythonRobotics/security
Insights	https://github.com/AtsushiSakai/PythonRobotics/pulse
Branches	https://github.com/AtsushiSakai/PythonRobotics/branches
Tags	https://github.com/AtsushiSakai/PythonRobotics/tags
	https://github.com/AtsushiSakai/PythonRobotics/branches
	https://github.com/AtsushiSakai/PythonRobotics/tags
2,210 Commits	https://github.com/AtsushiSakai/PythonRobotics/commits/master/
	https://github.com/AtsushiSakai/PythonRobotics/commits/master/
.circleci	https://github.com/AtsushiSakai/PythonRobotics/tree/master/.circleci
.circleci	https://github.com/AtsushiSakai/PythonRobotics/tree/master/.circleci
.github	https://github.com/AtsushiSakai/PythonRobotics/tree/master/.github
.github	https://github.com/AtsushiSakai/PythonRobotics/tree/master/.github
AerialNavigation	https://github.com/AtsushiSakai/PythonRobotics/tree/master/AerialNavigation
AerialNavigation	https://github.com/AtsushiSakai/PythonRobotics/tree/master/AerialNavigation
ArmNavigation	https://github.com/AtsushiSakai/PythonRobotics/tree/master/ArmNavigation
ArmNavigation	https://github.com/AtsushiSakai/PythonRobotics/tree/master/ArmNavigation
Bipedal	https://github.com/AtsushiSakai/PythonRobotics/tree/master/Bipedal
Bipedal	https://github.com/AtsushiSakai/PythonRobotics/tree/master/Bipedal
InvertedPendulum	https://github.com/AtsushiSakai/PythonRobotics/tree/master/InvertedPendulum
InvertedPendulum	https://github.com/AtsushiSakai/PythonRobotics/tree/master/InvertedPendulum
Localization	https://github.com/AtsushiSakai/PythonRobotics/tree/master/Localization
Localization	https://github.com/AtsushiSakai/PythonRobotics/tree/master/Localization
Mapping	https://github.com/AtsushiSakai/PythonRobotics/tree/master/Mapping
Mapping	https://github.com/AtsushiSakai/PythonRobotics/tree/master/Mapping
MissionPlanning	https://github.com/AtsushiSakai/PythonRobotics/tree/master/MissionPlanning
MissionPlanning	https://github.com/AtsushiSakai/PythonRobotics/tree/master/MissionPlanning
PathPlanning	https://github.com/AtsushiSakai/PythonRobotics/tree/master/PathPlanning
PathPlanning	https://github.com/AtsushiSakai/PythonRobotics/tree/master/PathPlanning
PathTracking	https://github.com/AtsushiSakai/PythonRobotics/tree/master/PathTracking
PathTracking	https://github.com/AtsushiSakai/PythonRobotics/tree/master/PathTracking
SLAM	https://github.com/AtsushiSakai/PythonRobotics/tree/master/SLAM
SLAM	https://github.com/AtsushiSakai/PythonRobotics/tree/master/SLAM
docs	https://github.com/AtsushiSakai/PythonRobotics/tree/master/docs
docs	https://github.com/AtsushiSakai/PythonRobotics/tree/master/docs
requirements	https://github.com/AtsushiSakai/PythonRobotics/tree/master/requirements
requirements	https://github.com/AtsushiSakai/PythonRobotics/tree/master/requirements
tests	https://github.com/AtsushiSakai/PythonRobotics/tree/master/tests
tests	https://github.com/AtsushiSakai/PythonRobotics/tree/master/tests
utils	https://github.com/AtsushiSakai/PythonRobotics/tree/master/utils
utils	https://github.com/AtsushiSakai/PythonRobotics/tree/master/utils
.gitignore	https://github.com/AtsushiSakai/PythonRobotics/blob/master/.gitignore
.gitignore	https://github.com/AtsushiSakai/PythonRobotics/blob/master/.gitignore
CODE_OF_CONDUCT.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/CODE_OF_CONDUCT.md
CODE_OF_CONDUCT.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/CODE_OF_CONDUCT.md
CONTRIBUTING.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/CONTRIBUTING.md
CONTRIBUTING.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/CONTRIBUTING.md
LICENSE	https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
LICENSE	https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
README.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/README.md
README.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/README.md
SECURITY.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/SECURITY.md
SECURITY.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/SECURITY.md
__init__.py	https://github.com/AtsushiSakai/PythonRobotics/blob/master/__init__.py
__init__.py	https://github.com/AtsushiSakai/PythonRobotics/blob/master/__init__.py
_config.yml	https://github.com/AtsushiSakai/PythonRobotics/blob/master/_config.yml
_config.yml	https://github.com/AtsushiSakai/PythonRobotics/blob/master/_config.yml
appveyor.yml	https://github.com/AtsushiSakai/PythonRobotics/blob/master/appveyor.yml
appveyor.yml	https://github.com/AtsushiSakai/PythonRobotics/blob/master/appveyor.yml
icon.png	https://github.com/AtsushiSakai/PythonRobotics/blob/master/icon.png
icon.png	https://github.com/AtsushiSakai/PythonRobotics/blob/master/icon.png
mypy.ini	https://github.com/AtsushiSakai/PythonRobotics/blob/master/mypy.ini
mypy.ini	https://github.com/AtsushiSakai/PythonRobotics/blob/master/mypy.ini
ruff.toml	https://github.com/AtsushiSakai/PythonRobotics/blob/master/ruff.toml
ruff.toml	https://github.com/AtsushiSakai/PythonRobotics/blob/master/ruff.toml
runtests.sh	https://github.com/AtsushiSakai/PythonRobotics/blob/master/runtests.sh
runtests.sh	https://github.com/AtsushiSakai/PythonRobotics/blob/master/runtests.sh
users_comments.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/users_comments.md
users_comments.md	https://github.com/AtsushiSakai/PythonRobotics/blob/master/users_comments.md
README	https://github.com/AtsushiSakai/PythonRobotics
Code of conduct	https://github.com/AtsushiSakai/PythonRobotics
Contributing	https://github.com/AtsushiSakai/PythonRobotics
License	https://github.com/AtsushiSakai/PythonRobotics
Security	https://github.com/AtsushiSakai/PythonRobotics
	https://github.com/AtsushiSakai/PythonRobotics/raw/master/icon.png?raw=true
	https://github.com/AtsushiSakai/PythonRobotics#pythonrobotics
	https://github.com/AtsushiSakai/PythonRobotics/workflows/Linux_CI/badge.svg
	https://github.com/AtsushiSakai/PythonRobotics/workflows/MacOS_CI/badge.svg
	https://github.com/AtsushiSakai/PythonRobotics/workflows/Windows_CI/badge.svg
	https://ci.appveyor.com/project/AtsushiSakai/pythonrobotics
textbook	https://atsushisakai.github.io/PythonRobotics/index.html
	https://github.com/AtsushiSakai/PythonRobotics#table-of-contents
What is this?	https://github.com/AtsushiSakai/PythonRobotics#what-is-this
Requirements	https://github.com/AtsushiSakai/PythonRobotics#requirements
Documentation	https://github.com/AtsushiSakai/PythonRobotics#documentation
How to use	https://github.com/AtsushiSakai/PythonRobotics#how-to-use
Localization	https://github.com/AtsushiSakai/PythonRobotics#localization
Extended Kalman Filter localization	https://github.com/AtsushiSakai/PythonRobotics#extended-kalman-filter-localization
Particle filter localization	https://github.com/AtsushiSakai/PythonRobotics#particle-filter-localization
Histogram filter localization	https://github.com/AtsushiSakai/PythonRobotics#histogram-filter-localization
Mapping	https://github.com/AtsushiSakai/PythonRobotics#mapping
Gaussian grid map	https://github.com/AtsushiSakai/PythonRobotics#gaussian-grid-map
Ray casting grid map	https://github.com/AtsushiSakai/PythonRobotics#ray-casting-grid-map
Lidar to grid map	https://github.com/AtsushiSakai/PythonRobotics#lidar-to-grid-map
k-means object clustering	https://github.com/AtsushiSakai/PythonRobotics#k-means-object-clustering
Rectangle fitting	https://github.com/AtsushiSakai/PythonRobotics#rectangle-fitting
SLAM	https://github.com/AtsushiSakai/PythonRobotics#slam
Iterative Closest Point (ICP) Matching	https://github.com/AtsushiSakai/PythonRobotics#iterative-closest-point-icp-matching
FastSLAM 1.0	https://github.com/AtsushiSakai/PythonRobotics#fastslam-10
Path Planning	https://github.com/AtsushiSakai/PythonRobotics#path-planning
Dynamic Window Approach	https://github.com/AtsushiSakai/PythonRobotics#dynamic-window-approach
Grid based search	https://github.com/AtsushiSakai/PythonRobotics#grid-based-search
Dijkstra algorithm	https://github.com/AtsushiSakai/PythonRobotics#dijkstra-algorithm
A* algorithm	https://github.com/AtsushiSakai/PythonRobotics#a-algorithm
D* algorithm	https://github.com/AtsushiSakai/PythonRobotics#d-algorithm
D* Lite algorithm	https://github.com/AtsushiSakai/PythonRobotics#d-lite-algorithm
Potential Field algorithm	https://github.com/AtsushiSakai/PythonRobotics#potential-field-algorithm
Grid based coverage path planning	https://github.com/AtsushiSakai/PythonRobotics#grid-based-coverage-path-planning
Particle Swarm Optimization (PSO)	https://github.com/AtsushiSakai/PythonRobotics#particle-swarm-optimization-pso
State Lattice Planning	https://github.com/AtsushiSakai/PythonRobotics#state-lattice-planning
Biased polar sampling	https://github.com/AtsushiSakai/PythonRobotics#biased-polar-sampling
Lane sampling	https://github.com/AtsushiSakai/PythonRobotics#lane-sampling
Probabilistic Road-Map (PRM) planning	https://github.com/AtsushiSakai/PythonRobotics#probabilistic-road-map-prm-planning
Rapidly-Exploring Random Trees (RRT)	https://github.com/AtsushiSakai/PythonRobotics#rapidly-exploring-random-trees-rrt
RRT*	https://github.com/AtsushiSakai/PythonRobotics#rrt
RRT* with reeds-shepp path	https://github.com/AtsushiSakai/PythonRobotics#rrt-with-reeds-shepp-path
LQR-RRT*	https://github.com/AtsushiSakai/PythonRobotics#lqr-rrt
Quintic polynomials planning	https://github.com/AtsushiSakai/PythonRobotics#quintic-polynomials-planning
Reeds Shepp planning	https://github.com/AtsushiSakai/PythonRobotics#reeds-shepp-planning
LQR based path planning	https://github.com/AtsushiSakai/PythonRobotics#lqr-based-path-planning
Optimal Trajectory in a Frenet Frame	https://github.com/AtsushiSakai/PythonRobotics#optimal-trajectory-in-a-frenet-frame
Path Tracking	https://github.com/AtsushiSakai/PythonRobotics#path-tracking
move to a pose control	https://github.com/AtsushiSakai/PythonRobotics#move-to-a-pose-control
Stanley control	https://github.com/AtsushiSakai/PythonRobotics#stanley-control
Rear wheel feedback control	https://github.com/AtsushiSakai/PythonRobotics#rear-wheel-feedback-control
Linear–quadratic regulator (LQR) speed and steering control	https://github.com/AtsushiSakai/PythonRobotics#linearquadratic-regulator-lqr-speed-and-steering-control
Model predictive speed and steering control	https://github.com/AtsushiSakai/PythonRobotics#model-predictive-speed-and-steering-control
Nonlinear Model predictive control with C-GMRES	https://github.com/AtsushiSakai/PythonRobotics#nonlinear-model-predictive-control-with-c-gmres
Arm Navigation	https://github.com/AtsushiSakai/PythonRobotics#arm-navigation
N joint arm to point control	https://github.com/AtsushiSakai/PythonRobotics#n-joint-arm-to-point-control
Arm navigation with obstacle avoidance	https://github.com/AtsushiSakai/PythonRobotics#arm-navigation-with-obstacle-avoidance
Aerial Navigation	https://github.com/AtsushiSakai/PythonRobotics#aerial-navigation
drone 3d trajectory following	https://github.com/AtsushiSakai/PythonRobotics#drone-3d-trajectory-following
rocket powered landing	https://github.com/AtsushiSakai/PythonRobotics#rocket-powered-landing
Bipedal	https://github.com/AtsushiSakai/PythonRobotics#bipedal
bipedal planner with inverted pendulum	https://github.com/AtsushiSakai/PythonRobotics#bipedal-planner-with-inverted-pendulum
License	https://github.com/AtsushiSakai/PythonRobotics#license
Use-case	https://github.com/AtsushiSakai/PythonRobotics#use-case
Contribution	https://github.com/AtsushiSakai/PythonRobotics#contribution
Citing	https://github.com/AtsushiSakai/PythonRobotics#citing
Support	https://github.com/AtsushiSakai/PythonRobotics#support
Sponsors	https://github.com/AtsushiSakai/PythonRobotics#sponsors
JetBrains	https://github.com/AtsushiSakai/PythonRobotics#JetBrains
1Password	https://github.com/AtsushiSakai/PythonRobotics#1password
Authors	https://github.com/AtsushiSakai/PythonRobotics#authors
	https://github.com/AtsushiSakai/PythonRobotics#what-is-pythonrobotics
textbook	https://atsushisakai.github.io/PythonRobotics/index.html
Getting Started — PythonRobotics documentation	https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/1_what_is_python_robotics.html
PythonRobotics project audio overview	https://www.youtube.com/watch?v=uMeRnNoJAfU
[1808.10703] PythonRobotics: a Python code collection of robotics algorithms	https://arxiv.org/abs/1808.10703
BibTeX	https://github.com/AtsushiSakai/PythonRoboticsPaper/blob/master/python_robotics.bib
	https://github.com/AtsushiSakai/PythonRobotics#requirements-to-run-the-code
Python 3.13.x	https://www.python.org/
NumPy	https://numpy.org/
SciPy	https://scipy.org/
Matplotlib	https://matplotlib.org/
cvxpy	https://www.cvxpy.org/
pytest	https://pytest.org/
pytest-xdist	https://pypi.org/project/pytest-xdist/
mypy	https://mypy-lang.org/
sphinx	https://www.sphinx-doc.org/
pycodestyle	https://pypi.org/project/pycodestyle/
	https://github.com/AtsushiSakai/PythonRobotics#documentation-textbook
Welcome to PythonRobotics’s documentation! — PythonRobotics documentation	https://atsushisakai.github.io/PythonRobotics/index.html
AtsushiSakai/PythonRoboticsGifs: Animation gifs of PythonRobotics	https://github.com/AtsushiSakai/PythonRoboticsGifs
	https://github.com/AtsushiSakai/PythonRobotics#how-to-use
	https://github.com/AtsushiSakai/PythonRobotics#localization
	https://github.com/AtsushiSakai/PythonRobotics#extended-kalman-filter-localization
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Localization/extended_kalman_filter/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/2_localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.html
	https://github.com/AtsushiSakai/PythonRobotics#particle-filter-localization
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Localization/particle_filter/animation.gif
PROBABILISTIC ROBOTICS	http://www.probabilistic-robotics.org/
	https://github.com/AtsushiSakai/PythonRobotics#histogram-filter-localization
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Localization/histogram_filter/animation.gif
PROBABILISTIC ROBOTICS	http://www.probabilistic-robotics.org/
	https://github.com/AtsushiSakai/PythonRobotics#mapping
	https://github.com/AtsushiSakai/PythonRobotics#gaussian-grid-map
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/gaussian_grid_map/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#ray-casting-grid-map
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/raycasting_grid_map/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#lidar-to-grid-map
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/lidar_to_grid_map/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#k-means-object-clustering
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/kmeans_clustering/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#rectangle-fitting
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/rectangle_fitting/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#slam
	https://github.com/AtsushiSakai/PythonRobotics#iterative-closest-point-icp-matching
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif
Introduction to Mobile Robotics: Iterative Closest Point Algorithm	https://cs.gmu.edu/~kosecka/cs685/cs685-icp.pdf
	https://github.com/AtsushiSakai/PythonRobotics#fastslam-10
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/FastSLAM1/animation.gif
PROBABILISTIC ROBOTICS	http://www.probabilistic-robotics.org/
SLAM simulations by Tim Bailey	http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm
	https://github.com/AtsushiSakai/PythonRobotics#path-planning
	https://github.com/AtsushiSakai/PythonRobotics#dynamic-window-approach
The Dynamic Window Approach to Collision Avoidance	https://www.ri.cmu.edu/pub_files/pub1/fox_dieter_1997_1/fox_dieter_1997_1.pdf
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DynamicWindowApproach/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#grid-based-search
	https://github.com/AtsushiSakai/PythonRobotics#dijkstra-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/Dijkstra/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#a-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/AStar/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#d-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DStar/animation.gif
D* Algorithm Wikipedia	https://en.wikipedia.org/wiki/D*
	https://github.com/AtsushiSakai/PythonRobotics#d-lite-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DStarLite/animation.gif
D* Lite	http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf
Improved Fast Replanning for Robot Navigation in Unknown Terrain	http://www.cs.cmu.edu/~maxim/files/dlite_icra02.pdf
	https://github.com/AtsushiSakai/PythonRobotics#potential-field-algorithm
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/PotentialFieldPlanning/animation.gif
Robotic Motion Planning:Potential Functions	https://www.cs.cmu.edu/~motionplanning/lecture/Chap4-Potential-Field_howie.pdf
	https://github.com/AtsushiSakai/PythonRobotics#grid-based-coverage-path-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/GridBasedSweepCPP/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#particle-swarm-optimization-pso
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ParticleSwarmOptimization/animation.gif
Particle swarm optimization - Wikipedia	https://en.wikipedia.org/wiki/Particle_swarm_optimization
Kennedy, J.; Eberhart, R. (1995). "Particle Swarm Optimization"	https://ieeexplore.ieee.org/document/488968
	https://github.com/AtsushiSakai/PythonRobotics#state-lattice-planning
Optimal rough terrain trajectory generation for wheeled mobile robots	https://journals.sagepub.com/doi/pdf/10.1177/0278364906075328
State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments	https://www.cs.cmu.edu/~alonzo/pubs/papers/JFR_08_SS_Sampling.pdf
	https://github.com/AtsushiSakai/PythonRobotics#biased-polar-sampling
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/BiasedPolarSampling.gif
	https://github.com/AtsushiSakai/PythonRobotics#lane-sampling
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/LaneSampling.gif
	https://github.com/AtsushiSakai/PythonRobotics#probabilistic-road-map-prm-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ProbabilisticRoadMap/animation.gif
Probabilistic roadmap - Wikipedia	https://en.wikipedia.org/wiki/Probabilistic_roadmap
	https://github.com/AtsushiSakai/PythonRobotics#rapidly-exploring-random-trees-rrt
	https://github.com/AtsushiSakai/PythonRobotics#rrt
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif
Incremental Sampling-based Algorithms for Optimal Motion Planning	https://arxiv.org/abs/1005.0416
Sampling-based Algorithms for Optimal Motion Planning	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=bddbc99f97173430aa49a0ada53ab5bade5902fa
	https://github.com/AtsushiSakai/PythonRobotics#rrt-with-reeds-shepp-path
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTStarReedsShepp/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#lqr-rrt
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRRRTStar/animation.gif
LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics	https://lis.csail.mit.edu/pubs/perez-icra12.pdf
MahanFathi/LQR-RRTstar: LQR-RRT* method is used for random motion planning of a simple pendulum in its phase plot	https://github.com/MahanFathi/LQR-RRTstar
	https://github.com/AtsushiSakai/PythonRobotics#quintic-polynomials-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/QuinticPolynomialsPlanner/animation.gif
Local Path Planning And Motion Control For Agv In Positioning	https://ieeexplore.ieee.org/document/637936/
	https://github.com/AtsushiSakai/PythonRobotics#reeds-shepp-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ReedsSheppPath/animation.gif?raw=true
15.3.2 Reeds-Shepp Curves	http://planning.cs.uiuc.edu/node822.html
optimal paths for a car that goes both forwards and backwards	https://pdfs.semanticscholar.org/932e/c495b1d0018fd59dee12a0bf74434fac7af4.pdf
ghliu/pyReedsShepp: Implementation of Reeds Shepp curve.	https://github.com/ghliu/pyReedsShepp
	https://github.com/AtsushiSakai/PythonRobotics#lqr-based-path-planning
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRPlanner/animation.gif?raw=true
	https://github.com/AtsushiSakai/PythonRobotics#optimal-trajectory-in-a-frenet-frame
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/FrenetOptimalTrajectory/animation.gif
Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame	https://www.researchgate.net/profile/Moritz_Werling/publication/224156269_Optimal_Trajectory_Generation_for_Dynamic_Street_Scenarios_in_a_Frenet_Frame/links/54f749df0cf210398e9277af.pdf
Optimal trajectory generation for dynamic street scenarios in a Frenet Frame	https://www.youtube.com/watch?v=Cj6tAQe7UCY
	https://github.com/AtsushiSakai/PythonRobotics#path-tracking
	https://github.com/AtsushiSakai/PythonRobotics#move-to-a-pose-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Control/move_to_pose/animation.gif
P. I. Corke, "Robotics, Vision and Control" \| SpringerLink p102	https://link.springer.com/book/10.1007/978-3-642-20144-8
	https://github.com/AtsushiSakai/PythonRobotics#stanley-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/stanley_controller/animation.gif
Stanley: The robot that won the DARPA grand challenge	http://robots.stanford.edu/papers/thrun.stanley05.pdf
Automatic Steering Methods for Autonomous Automobile Path Tracking	https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf
	https://github.com/AtsushiSakai/PythonRobotics#rear-wheel-feedback-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/rear_wheel_feedback/animation.gif
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles	https://arxiv.org/abs/1604.07446
	https://github.com/AtsushiSakai/PythonRobotics#linearquadratic-regulator-lqr-speed-and-steering-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/lqr_speed_steer_control/animation.gif
Towards fully autonomous driving: Systems and algorithms - IEEE Conference Publication	https://ieeexplore.ieee.org/document/5940562/
	https://github.com/AtsushiSakai/PythonRobotics#model-predictive-speed-and-steering-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/model_predictive_speed_and_steer_control/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/6_path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control.html
Real-time Model Predictive Control (MPC), ACADO, Python \| Work-is-Playing	http://grauonline.de/wordpress/?page_id=3244
	https://github.com/AtsushiSakai/PythonRobotics#nonlinear-model-predictive-control-with-c-gmres
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/cgmres_nmpc/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/6_path_tracking/cgmres_nmpc/cgmres_nmpc.html
	https://github.com/AtsushiSakai/PythonRobotics#arm-navigation
	https://github.com/AtsushiSakai/PythonRobotics#n-joint-arm-to-point-control
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#arm-navigation-with-obstacle-avoidance
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#aerial-navigation
	https://github.com/AtsushiSakai/PythonRobotics#drone-3d-trajectory-following
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/drone_3d_trajectory_following/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#rocket-powered-landing
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/rocket_powered_landing/animation.gif
documentation	https://atsushisakai.github.io/PythonRobotics/modules/8_aerial_navigation/rocket_powered_landing/rocket_powered_landing.html
	https://github.com/AtsushiSakai/PythonRobotics#bipedal
	https://github.com/AtsushiSakai/PythonRobotics#bipedal-planner-with-inverted-pendulum
	https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Bipedal/bipedal_planner/animation.gif
	https://github.com/AtsushiSakai/PythonRobotics#license
	https://github.com/AtsushiSakai/PythonRobotics#use-case
users_comments	https://github.com/AtsushiSakai/PythonRobotics/blob/master/users_comments.md
	https://github.com/AtsushiSakai/PythonRobotics#contribution
How To Contribute — PythonRobotics documentation	https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/3_how_to_contribute.html
	https://github.com/AtsushiSakai/PythonRobotics#citing
our papers	https://arxiv.org/abs/1808.10703
	https://github.com/AtsushiSakai/PythonRobotics#supporting-this-project
Sponsor @AtsushiSakai on GitHub Sponsors	https://github.com/sponsors/AtsushiSakai
Become a backer or sponsor on Patreon	https://www.patreon.com/myenigma
One-time donation via PayPal	https://www.paypal.com/paypalme/myenigmapay/
	https://github.com/AtsushiSakai/PythonRobotics#sponsors
JetBrains	https://www.jetbrains.com/
	https://github.com/AtsushiSakai/PythonRobotics#jetbrains
1Password	https://github.com/1Password/for-open-source
	https://github.com/AtsushiSakai/PythonRobotics#1password
	https://github.com/AtsushiSakai/PythonRobotics#authors
Contributors to AtsushiSakai/PythonRobotics	https://github.com/AtsushiSakai/PythonRobotics/graphs/contributors
atsushisakai.github.io/PythonRobotics/	https://atsushisakai.github.io/PythonRobotics/
python	https://github.com/topics/python
algorithm	https://github.com/topics/algorithm
control	https://github.com/topics/control
robot	https://github.com/topics/robot
localization	https://github.com/topics/localization
robotics	https://github.com/topics/robotics
mapping	https://github.com/topics/mapping
animation	https://github.com/topics/animation
path-planning	https://github.com/topics/path-planning
slam	https://github.com/topics/slam
autonomous-driving	https://github.com/topics/autonomous-driving
autonomous-vehicles	https://github.com/topics/autonomous-vehicles
ekf	https://github.com/topics/ekf
hacktoberfest	https://github.com/topics/hacktoberfest
cvxpy	https://github.com/topics/cvxpy
autonomous-navigation	https://github.com/topics/autonomous-navigation
Readme	https://github.com/AtsushiSakai/PythonRobotics#readme-ov-file
View license	https://github.com/AtsushiSakai/PythonRobotics#License-1-ov-file
Code of conduct	https://github.com/AtsushiSakai/PythonRobotics#coc-ov-file
Contributing	https://github.com/AtsushiSakai/PythonRobotics#contributing-ov-file
Security policy	https://github.com/AtsushiSakai/PythonRobotics#security-ov-file
Please reload this page	https://github.com/AtsushiSakai/PythonRobotics
Activity	https://github.com/AtsushiSakai/PythonRobotics/activity
27.7k stars	https://github.com/AtsushiSakai/PythonRobotics/stargazers
518 watching	https://github.com/AtsushiSakai/PythonRobotics/watchers
7.1k forks	https://github.com/AtsushiSakai/PythonRobotics/forks
Report repository	https://github.com/contact/report-content?content_url=https%3A%2F%2Fgithub.com%2FAtsushiSakai%2FPythonRobotics&report=AtsushiSakai+%28user%29
Releases	https://github.com/AtsushiSakai/PythonRobotics/releases
1 tags	https://github.com/AtsushiSakai/PythonRobotics/tags
Please reload this page	https://github.com/AtsushiSakai/PythonRobotics
patreon.com/myenigma	https://patreon.com/myenigma
https://www.paypal.com/paypalme/myenigmapay/	https://www.paypal.com/paypalme/myenigmapay/
Learn more about GitHub Sponsors	https://github.com/sponsors
Please reload this page	https://github.com/AtsushiSakai/PythonRobotics
Contributors 138	https://github.com/AtsushiSakai/PythonRobotics/graphs/contributors
Please reload this page	https://github.com/AtsushiSakai/PythonRobotics
+ 124 contributors	https://github.com/AtsushiSakai/PythonRobotics/graphs/contributors
Python 100.0%	https://github.com/AtsushiSakai/PythonRobotics/search?l=python
	https://github.com
Terms	https://docs.github.com/site-policy/github-terms/github-terms-of-service
Privacy	https://docs.github.com/site-policy/privacy-policies/github-privacy-statement
Security	https://github.com/security
Status	https://www.githubstatus.com/
Community	https://github.community/
Docs	https://docs.github.com/
Contact	https://support.github.com?tags=dotcom-footer

Viewport: width=device-width

URLs of crawlers that visited me.