.__                           
|  |__   ____   _____   ____  
|  |  \ /  _ \ /     \_/ __ \ 
|   Y  (  <_> )  Y Y  \  ___/ 
|___|  /\____/|__|_|  /\___  >
     \/             \/     \/

              _____  __                                 
  ___________/ ____\/  |___  _  _______ _______   ____  
 /  ___/  _ \   __\\   __\ \/ \/ /\__  \\_  __ \_/ __ \ 
 \___ (  <_> )  |   |  |  \     /  / __ \|  | \/\  ___/ 
/____  >____/|__|   |__|   \/\_/  (____  /__|    \___  >
     \/                                \/            \/

Things I'm Involved in

On Sourceforge

E* Interpolated Graph Replanner

The E* algorithm is a path planner for (mobile) robotics. Unlike A*, which constrains movements to graph edges, it produces smooth trajectories by interpolating between edges. Like D*, it supports dynamic replanning after local path cost changes.

website wiki code summary

Sunflower Mobile Robot Library

The sunflower library provides programming abstractions developed at the Autonomous Systems Lab http://www.asl.ethz.ch/. It contains a complete path planning and obstacle avoidance system, common mobile robotics tasks abstractions, and a 2D simulator.

website code summary

Premise Plan/Execute/Monitor

Premise is a framework for plan representation, execution, and monitoring. A simple yet powerful graph of activities linked by signals encodes execution pathways and contingencies. Our main focus is on robots in human environments interacting with people

website wiki code summary

Cerebrate Artistic Mechatronics and Robotics

Cerebrate provides mechatronic control code for artists. It was created in 2005 for Fernandez, an autonomous cactus by Vincent Kohler and Roland Philippsen, for an expo at the Villa Bernasconi in Lancy during Science et Cité in Geneva. In 2006, Blink and Ibou were added to control blinking light patterns and statue motions for Vincent's Pavés and Hibou. Haiko is voxel visualization software that was added in 2008 as a pet project for the minimalist pixel dog.

website code summary

Elsewhere

ASL-Mplan

Motion planning software developed at the Autonomous Systems Lab. It is best tried out using the E* development kit.

code

ASL-Mcontrol

Motion control software for Ackermann vehicles developed at the Autonomous Systems Lab. Like asl-mplan, it is best tried out using the E* development kit.

code

Selection of Great Projects by Others

Related to Robotics

Carmen provides modular software for mobile robot control and navigation including: base and sensor control, obstacle avoidance, localization, path planning, people-tracking, and mapping.
Player/Stage: Player is a networked robot/sensor device interface; Stage and Gazebo provide 2D and 3D simulated worlds, respectively.
XCF is an XML enabled communication framework providing features for distribution of modules and corresponding algorithms across different machines in order to guarantee fast system reactions.
IPC provides flexible, efficient message passing between processes, possibly running on several hosts.
OpenRobots is a collection of software that was developped at LAAS/CNRS for the Architecture for Autonomous Systems project, particularly Genom the generator of modules for designing real-time software architectures.

Related to Software Development

Subversion is a powerful version control system.
Trac is an enhanced wiki and issue tracking system for software development projects.
Git is a distributed version control system designed to handle very large projects with speed and efficiency.
Cogito is a human-suitable interface for Git, designed to be comfortable, easy to use and present a gentle learning curve for new users.
CMake is a cross-platform, open-source make system.
SCons is a software construction tool implemented as a Python script and set of modules.
GNU Automake, Autoconf and Libtool all help to make software portable.
Boost provides free peer-reviewed portable C++ source libraries.
Doxygen is a documentation system for C++, C, Java, Objective-C, Python, IDL (Corba and Microsoft flavors) and to some extent PHP, C#, and D.

Artistic and Fun Stuff

Inkscape is a vector graphics editor (SVG format) featuring transparency, gradients, node editing, pattern fills, PNG export, and more.
Processing is a programming language and environment for people who want to program images, animation, and sound. It is used by students, artists, designers, architects, researchers, and hobbyists for learning, prototyping, and production.