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@ntnu-arl NTNU Autonomous Robots Lab

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    258 repositories

    • radvio

      Public
      A tightly-coupled radar-visual-inertial odometry method, to enable robust performance in challenging environments.
      C++
      •
      Other
      •3•56•0•0•Updated Sep 3, 2026Sep 3, 2026

    • robot_bringup

      Public
      Launch and config files for the robot
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •2•0•0•0•Updated Aug 31, 2026Aug 31, 2026

    • gbplanner_ros

      Public
      Graph-based Exploration Planner for Subterranean Environments
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •173•848•31•0•Updated Aug 31, 2026Aug 31, 2026

    • gtsam

      Public
      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 co…
      C++
      •
      Other
      •989•0•0•0•Updated Aug 30, 2026Aug 30, 2026

    • rig

      Public
      A factor graph-based odometry fusing IMU, radar, and barometric pressure measurements using an incremental fixed-lag smoother.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•18•0•0•Updated Aug 30, 2026Aug 30, 2026

    • IsaacLab

      Public
      Unified framework for robot learning built on NVIDIA Isaac Sim
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3.9k•3•9•0•Updated Aug 27, 2026Aug 27, 2026

    • subt_cave_sim

      Public
      Simulated cave environments
      CMake
      •
      Other
      •7•21•0•0•Updated Aug 17, 2026Aug 17, 2026

    • unified_autonomy_stack

      Public
      The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •19•229•7•0•Updated Aug 15, 2026Aug 15, 2026

    • modalai-px4-firmware

      Public
      PX4 Autopilot Software
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •16k•2•0•0•Updated Aug 8, 2026Aug 8, 2026

    • mimosa

      Public
      Multi-modal SLAM
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •14•122•1•1•Updated Aug 7, 2026Aug 7, 2026

    • sdf-nmpc

      Public
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •6•51•0•0•Updated Jul 16, 2026Jul 16, 2026

    • aerial_gym_simulator

      Public
      Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •122•764•13•7•Updated Jun 28, 2026Jun 28, 2026

    • HesaiLidar_ROS_2.0

      Public
      C++
      •
      Other
      •154•1•0•0•Updated Jun 15, 2026Jun 15, 2026

    • rslidar_sdk

      Public
      RoboSense LiDAR SDK for ROS & ROS2
      C++
      •
      Other
      •352•0•0•0•Updated Jun 15, 2026Jun 15, 2026

    • ouster-ros

      Public
      Official ROS drivers for Ouster sensors
      C++
      •
      Other
      •249•2•0•0•Updated Jun 15, 2026Jun 15, 2026

    • generalist_multirotor_control

      Public
      Python
      •1•11•1•0•Updated Jun 12, 2026Jun 12, 2026

    • world-model-nav-generalization

      Public
      World models for vision-based quadrotor navigation: a systematic study of generalization under environmental variability, from SSL pretraining to real-world dep…
      0•9•0•0•Updated Jun 12, 2026Jun 12, 2026

    • ros-gst-bridge

      Public
      a bidirectional ros to gstreamer bridge and utilities for dynamic pipelines
      C++
      •
      GNU Lesser General Public License v3.0
      •52•2•0•0•Updated Jun 8, 2026Jun 8, 2026

    • XLB-ntnu

      Public
      XLB: Accelerated Lattice Boltzmann (XLB) for Physics-based ML
      Python
      •
      Other
      •85•0•0•0•Updated Jun 5, 2026Jun 5, 2026

    • rl_nav

      Public
      Reinforcement learning based navigation for the Unified Autonomy Stack
      Jupyter Notebook
      •
      BSD 3-Clause "New" or "Revised" License
      •0•8•0•0•Updated May 30, 2026May 30, 2026

    • detection_vlm

      Public
      VLMs for object detection and Q&A in ROS
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •2•3•0•0•Updated May 26, 2026May 26, 2026

    • composite_cbf

      Public
      ROS implementation of the Composite CBF safety filter
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •2•12•0•0•Updated May 26, 2026May 26, 2026

    • rmf_gz

      Public
      Python
      •0•1•1•1•Updated May 25, 2026May 25, 2026

    • nbvplanner_ubuntu20

      Public
      A real-time capable exploration and inspection path planner (next best view planning)
      C++
      •125•0•0•0•Updated May 21, 2026May 21, 2026

    • graph_eqa

      Public
      Official repository for GraphEQA
      Python
      •8•1•0•0•Updated May 21, 2026May 21, 2026

    • rl_games

      Public
      RL implementations
      Jupyter Notebook
      •
      MIT License
      •219•1•0•0•Updated May 21, 2026May 21, 2026

    • habitat-ros

      Public
      A ROS2 interface for Habitat-Sim
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •2•1•0•0•Updated May 18, 2026May 18, 2026

    • seek_driver

      Public
      Seek ROS Driver
      C++
      •
      MIT License
      •2•0•0•0•Updated May 17, 2026May 17, 2026

    • reasoning_hydra

      Public
      Relationship-aware hierarchical 3D scene graph for task reasoning
      C++
      •
      Other
      •5•26•0•0•Updated May 16, 2026May 16, 2026

    • uw-quadruped-cad

      Public
      Design of the Underwater Quadruped Robot
      BSD 3-Clause "New" or "Revised" License
      •0•2•0•0•Updated May 15, 2026May 15, 2026
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