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Osnabrück University – Mobile Robotics

README.md

UOS – Mobile Robotics

Welcome to the official GitHub for open source mobile robot software developed at the Osnabrück University (UOS).

We focus on cutting-edge research in robotics, 3D navigation, localization, and simulation. Our repositories offer tools and frameworks to support autonomous systems in unstructured environments.

Research

A selection of our research projects:

Simulation

3D Navigation

  • MeshNav – Navigation over 3D triangle mesh surfaces. [ICRA 2021]
  • MeshMPPI – Model predictive control on surface meshes & dynamic obstacle avoidance.

Map-based Localization

SLAM

Geometry Processing

  • lvr2 – A C++ library for reconstructing mesh surfaces from (unordered) 3D point cloud data. [IRC 2018]

Teaching & Robots

  • ros2_tutorial – Educational material for learning ROS 2.
  • ceres_robot – Software stack for the Ceres robot platform.

Tools

Involved Research Groups

This organization is shared with research groups at Osnabrück University (UOS) working in the field of mobile robotics.

Knowledge-Based Systems

Computer Engineering

We welcome collaboration and contributions. Feel free to explore our repositories and get in touch.

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  1. rmcl rmcl Public

    Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

    C++ 224 19

  2. lvr2 lvr2 Public

    Las Vegas Reconstruction 2.0

    C++ 147 20

  3. rmagine rmagine Public

    A robot wants to simulate too

    C++ 60 13

  4. mesh_mppi mesh_mppi Public

    A Model Predictive Path Integral control algorithm for MeshNav.

    C++ 50 4

  5. tsdf_localization tsdf_localization Public

    6D Monte Carlo Localization in 3D TSDF maps

    C++ 46 3

  6. radarays_ros radarays_ros Public

    Rotating FMCW radar simulation based on ray tracing

    C++ 36 5

Repositories

Showing 10 of 67 repositories
  • lvr2 Public

    Las Vegas Reconstruction 2.0

    uos/lvr2’s past year of commit activity
    C++ 147 BSD-3-Clause 20 3 0 Updated Dec 15, 2025
  • .github Public
    uos/.github’s past year of commit activity
    0 0 0 0 Updated Dec 15, 2025
  • minot Public

    A versatile toolset for debugging and verifying stateful robot perception software.

    uos/minot’s past year of commit activity
    Rust 10 Apache-2.0 0 0 0 Updated Dec 12, 2025
  • mesh_mppi Public

    A Model Predictive Path Integral control algorithm for MeshNav.

    uos/mesh_mppi’s past year of commit activity
    C++ 50 BSD-3-Clause 4 0 0 Updated Dec 9, 2025
  • rmcl Public

    Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

    uos/rmcl’s past year of commit activity
    C++ 224 BSD-3-Clause 19 2 0 Updated Oct 9, 2025
  • rmagine Public

    A robot wants to simulate too

    uos/rmagine’s past year of commit activity
    C++ 60 BSD-3-Clause 13 0 0 Updated Oct 1, 2025
  • radarays_ros Public

    Rotating FMCW radar simulation based on ray tracing

    uos/radarays_ros’s past year of commit activity
    C++ 36 BSD-3-Clause 5 0 0 Updated Jul 28, 2025
  • rmagine_docs Public

    Rmagine Documentation Sources

    uos/rmagine_docs’s past year of commit activity
    1 0 0 0 Updated Jul 14, 2025
  • rmagine_gazebo_plugins Public

    Ray Casting-Based Range Sensor Simulation in Gazebo using Rmagine

    uos/rmagine_gazebo_plugins’s past year of commit activity
    C++ 22 BSD-3-Clause 3 3 0 Updated Jun 15, 2025
  • ceres_robot Public

    ceres robot ros driver and tools

    uos/ceres_robot’s past year of commit activity
    Python 51 23 0 0 Updated May 19, 2025
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