This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
☆338May 7, 2024Updated last year
Alternatives and similar repositories for subt
Users that are interested in subt are comparing it to the libraries listed below
Sorting:
- Hello World for DARPA SubT Challenge☆219Jun 18, 2024Updated last year
- Graph-based Exploration Planner for Subterranean Environments☆792Feb 20, 2026Updated last week
- Motion-primitives Based Planner for Fast & Agile Exploration☆359Apr 19, 2023Updated 2 years ago
- Cave world☆73Apr 25, 2020Updated 5 years ago
- Dummy package and node for ROS2 GDB debugging☆10Sep 3, 2020Updated 5 years ago
- Documentation of open resources developed by competitors in the SubT Challenge, including open-source software and datasets.☆77May 10, 2024Updated last year
- Efficient local and global exploration on submap collections with changing past pose estimates.☆216Feb 28, 2023Updated 3 years ago
- Frontier-based exploration for online planning in a 3D map in ROS.☆19Jan 23, 2024Updated 2 years ago
- Repository for the path planner for SMB for the ETH Robotics Summer School☆94Jun 29, 2024Updated last year
- Robust Lidar Odometry System☆384Apr 29, 2023Updated 2 years ago
- Implementation for learning a mapping from urban images that contain dynamic objects to static realistic images suitable for SLAM☆48Jun 20, 2019Updated 6 years ago
- Multi-robot SLAM system☆373Oct 29, 2023Updated 2 years ago
- The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain☆824Feb 13, 2026Updated 2 weeks ago
- TARE Exploration Planner for Ground Vehicles☆644Jul 10, 2024Updated last year
- ☆15Aug 22, 2024Updated last year
- Visual-Thermal Inertial Odometry☆114Sep 30, 2025Updated 5 months ago
- Information Field for Perception-aware Planning☆206Oct 13, 2020Updated 5 years ago
- R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package☆772Sep 11, 2021Updated 4 years ago
- ☆39Mar 15, 2022Updated 3 years ago
- An unofficial open source implentation of CSIRO's Wildcat SLAM.☆94Jan 10, 2025Updated last year
- Modular framework for online informative path planning.☆684Aug 14, 2025Updated 6 months ago
- Self-made Gazebo maps and models for public☆171May 29, 2025Updated 9 months ago
- MAV planning tools using voxblox as the map representation.☆556Aug 11, 2021Updated 4 years ago
- Pure Pursuit Control and SE(2) Planning☆558Mar 7, 2023Updated 2 years ago
- Additional indoor and outdoor simulation environments for Clearpath robots.☆227Nov 29, 2023Updated 2 years ago
- Local Navigation Planner for Legged Robots☆218Aug 9, 2023Updated 2 years ago
- Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping☆136Mar 25, 2024Updated last year
- LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, F…☆1,106Jan 31, 2025Updated last year
- Bayesian Generalized Kernel Inference for Terrain Traversability Mapping☆333Aug 13, 2020Updated 5 years ago
- Robot-centric elevation mapping for rough terrain navigation☆1,711Nov 4, 2024Updated last year
- Public Code Repository of the iRotate Active SLAM for Omnidirectional robots at the Max Planck Institute for Intelligent Systems, Tübinge…☆68Jan 23, 2023Updated 3 years ago
- UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown☆412Jun 27, 2025Updated 8 months ago
- ☆30May 4, 2023Updated 2 years ago
- Autonomous Navigation and Collision Avoidance for Ground Robots☆665Sep 15, 2023Updated 2 years ago
- SOTA Spherical Target-based Calibration (accepted in IROS'25)☆29Feb 2, 2026Updated last month
- [IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localizat…☆1,018Jun 8, 2024Updated last year
- 3D Multi-Robot Exploration, Patrolling and Navigation.☆260Sep 13, 2025Updated 5 months ago
- LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDAR…☆603Mar 18, 2023Updated 2 years ago
- Tools and Messages for Annotated 3D Triangle Meshes in ROS☆258Feb 13, 2026Updated 2 weeks ago