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AtsushiSakai/PythonRobotics
Python sample codes and textbook for robotics algorithms.
PythonRobotics is a textbook-style collection of robotics algorithm implementations in Python — EKF, SLAM, path planning (A*, RRT*, MPC), path tracking, arm navigation, and more. It's aimed at students and researchers who want to understand the math behind an algorithm by reading clean, minimal code alongside academic references. Not a production library; the point is readability over reusability.
Each algorithm lives in its own self-contained script with minimal dependencies, so you can read and run a single file without untangling a framework. The accompanying online textbook ties each implementation to the underlying math and paper citations, which is rare for a GitHub repo of this size. CI runs on Linux, macOS, and Windows against Python 3.13, so the examples actually work and aren't bit-rotting. The breadth is genuine — it covers the full autonomy stack from localization through SLAM through planning through tracking, with multiple algorithm variants per category.
Everything is a standalone script, which means shared logic (e.g., grid utilities, plotting helpers) is duplicated across files rather than factored into a library you can import — fine for learning, painful if you want to build on top of it. The simulations assume matplotlib's interactive mode, so running in a headless environment or CI without a display requires workarounds that aren't documented. Most algorithms are 2D-only; the handful of 3D examples (drone, arm) are thin and don't match the depth of the 2D coverage. There's no packaging — no `pyproject.toml`, no installable wheel — so integrating even a single algorithm into another project means copy-pasting source.