Navground, short for Navigation Playground, is a playground to experiment with navigation algorithms. It is a modular library, primary implemented in C++.
This package provides Python bindings to the core and simulation sub-libraries. With this package, you can use navground but also extend it.
Core library
A library of two-dimensional navigation algorithms which
provides a common API to interact with dynamic obstacle avoidance behaviors for multi-agent systems. Some behaviors are already implemented, more will be. Behaviors take the current state of environment and agent together with a target, and output a control command.
Features
navigation behaviors and modulations
environment states
targets
kinematics
2D and 2.5D controllers with an event-based interface
collisions computation
YAML serialization
Users can add their components (behaviors and kinematics) which are then auto-discovered by the rest of the system.
The core library is designed to be integrated in real-time run-times of real or simulated robots or of other kind of agents.
Simulation
The simulation complements the navigation behaviors of the core library with:
tasks that generate targets for behaviors, and
state estimation components that feed a potentially noisy and partial representation of the environment state to the behaviors.
It also provides all the infrastructure to run offline experiments.
Features
very fast kinematic simulation
extensible tasks and state estimations
generating world with agents and static obstacles from scenarios
running experiments/benchmarks and recording data in HFD5 files
using YAML to specify experiments
Documentation
For more information, we refer to the project documentation that contains also detailed installation instructions.
Try the tutorials on binder
License and copyright
This software is free for reuse according to the attached MIT license.
Acknowledgement and disclaimer
The work was supported in part by REXASI-PRO H-EU project, call HORIZON-CL4-2021-HUMAN-01-01, Grant agreement no. 101070028.
The work has been partially funded by the European Union. Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the European Commission can be held responsible for them.
