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Scientific Free Software

libpointmatcher ✦ 2010–present ✦ c++

libpointmatcher is a modular and fast icp library. We also provide a ros package. I co-developed libpointmatcher with François Pomerleau at asl, it is available under a bsd-new license.

libnabo ✦ 2010–present ✦ c++

libnabo is a fast nearset-neighbor–search library for low-dimensional spaces. It is based on the algorithm of ann but with more compact memory structure and therefore faster. I am developing Nabo as part of my work at asl, it is available under a bsd-new license.

Aseba ✦ 2007–present ✦ c++ and Qt4

Aseba is a set of tools which allow beginners to program robots easily and efficiently. For these reasons, Aseba is well-suited for robotic education and research. I developed Aseba as part of my work at Mobots on the Swarmanoid European Project. I am maintaining it as part of my work at asl. Aseba is available under a LGPL 3 license.

Planner9 ✦ 2009–present ✦ c++

Planner9 is a distributed hierarchical–task-network planner. Planner9 performs parallel search using A* and limits the number of search nodes through lifting. I co-developed Planner9 with Martin Voelkle as part of my work at Mobots on the Swarmanoid European Project.

Enki ✦ 1999–present ✦ c++

Enki is an open source robot simulator. It provides collision and limited physics support for robots evolving on a flat surface. Enki is able to simulate groups of robots hundred times faster than real-time. I developed Enki as part of my work at lis on the ECAgents European Project. I further enhance Enki as part of my work at Mobots.

teer ✦ 2012-2014 ✦ Python

Teer is a task-execution environment for robotics. It is a Python library proposing the use of coroutines to implement executives, as an alternative to state machines. Teer is available under a bsd-new license.

Osqoop ✦ 2005–2006 ✦ c++ and Qt4

Osqoop is an open-source software oscilloscope. It features an arbitrary number of channels, long acquisition durations, and plugin-based data sources and signal-processing algorithms. I developed Osqoop as part of my work at lsn.

Teem ✦ 2004–2005 ✦ c++

Teem is a software framework for evolutionary-robotics experiments. Using a modular approach, it provides several genomes, evolution logics, neural networks topologies and neurons/synapses as well as sample experiments. It seamlessly integrates with the Enki simulator. I designed Teem with Antoine Beyeler and wrote the core. This was part of my work at lis on the ECAgents European Project.

Unless stated otherwise, the software on this page are released under the GNU General Public License (GPL) license. They are all cross-platform.

© 2008–2014 Stéphane Magnenat
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