# Robotics Motion Planning Library

**URL:** <https://discourse.julialang.org/t/robotics-motion-planning-library/100714>\
**Category:** Specific Domains\
**Tags:** robotics, path-planning, motion-planning\
**Created:** [June 22, 2023, 8:59pm UTC](https://discourse.julialang.org/t/robotics-motion-planning-library/100714 "2023-06-22T20:59:39Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![acxz](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/acxz/32/16759_2.png) [@acxz](https://discourse.julialang.org/u/acxz)\
**Post date:** [June 22, 2023, 8:59pm UTC](https://discourse.julialang.org/t/robotics-motion-planning-library/100714/1 "2023-06-22T20:59:40Z")

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Hello all, I’m looking for an off the shelf library I can use for motion planning in robotics.  
Algorithms I’d like to see are RRT (and variants), PRM, A\*, D\*, etc.

A quick search on Google and JuliaHub, popped up some entries that had specific implementations but I couldn’t find a package that I can import in my project and get started with. If anyone knows of one or is working on one, I’d love to know about it.

Additionally, even if you do know of smaller packages that only contain some or one motion/path planning algorithms; having them linked in this post would be great as a some kind of path planning package curation.

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**Author:** ![zgornel](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/zgornel/32/217487_2.png) [@zgornel](https://discourse.julialang.org/u/zgornel)\
**Post date:** [June 23, 2023, 10:36am UTC](https://discourse.julialang.org/t/robotics-motion-planning-library/100714/2 "2023-06-23T10:36:40Z")

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You may try [GitHub - JuliaPlanners/SymbolicPlanners.jl: Symbolic planners for problems and domains specified in PDDL.](https://github.com/JuliaPlanners/SymbolicPlanners.jl)

It would also be helpful in answering if you provided the list of what you have already found.

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<div class="post-metadata">

**Author:** ![acxz](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/acxz/32/16759_2.png) [@acxz](https://discourse.julialang.org/u/acxz)\
**Post date:** [June 23, 2023, 3:02pm UTC](https://discourse.julialang.org/t/robotics-motion-planning-library/100714/3 "2023-06-23T15:02:27Z")

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Thanks for the link to the JuliaPlanners organization! I had not seen this across my searches.

Of course. Here are some codes I have found:  
RRT:

> **[GitHub - mattivahs/RTRRT.jl: Implementation of RT-RRT\* in Julia.](https://github.com/mattivahs/RTRRT.jl)**
>
> Implementation of RT-RRT\* in Julia. Contribute to mattivahs/RTRRT.jl development by creating an account on GitHub.

> **[GitHub - bhatiaabhinav/RRTStar.jl: Julia implementation of RRT\* motion...](https://github.com/bhatiaabhinav/RRTStar.jl)**
>
> Julia implementation of RRT\* motion planning algorithm. - GitHub - bhatiaabhinav/RRTStar.jl: Julia implementation of RRT\* motion planning algorithm.

> **[GitHub - silgon/rrt\_julia: Testing algorihtms for Rapidly Exploring Random Trees](https://github.com/silgon/rrt_julia)**
>
> Testing algorihtms for Rapidly Exploring Random Trees - GitHub - silgon/rrt\_julia: Testing algorihtms for Rapidly Exploring Random Trees

> <https://gist.github.com/eigengravy/63466a6d8bd7f7a0be5b918945448a41>

Haven’t found anything regarding PRM

As for A\* and other graph based shortest path methods, JuliaGraphs has various methods for it: [Shortest paths · Graphs.jl](https://juliagraphs.org/Graphs.jl/dev/algorithms/shortestpaths/)