NAMOSIM

NAMOSIM is a robot motion planner designed for the problem of navigation among movable obstacles (NAMO). It simulates mobile robots navigating in 2D polygonal environments in which certain obstacles can be grabbed and relocated. It currently supports holonomic and differential drive motion models. A variety of agent types are implemented, including primarily our Stilman2005 baseline agent. New agents utilizing alternative algorithmic approaches can be created and plugged into the planner in a straightforward manner by implementing the Agent base class.

Documentation

Please check out the docs site for installation and usage instructions.

To build the docs site locally, run:

./scripts/make_docs.sh

Demos

Here are a couple demo videos applying namosim on real and simulated robots.

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

Authors

• Benoit Renault
• Jacques Saraydaryan
• David Brown
• Olivier Simonin

Affiliated Teams and Organisations

	Org/Team
	Inria
	INSA Lyon
	CITI Laboratory
CHROMA	CHROMA Team

Cite Us

If you reuse any part of this project in your research, please cite the associated papers:

@inproceedings{renault_2024_iros,
  author    = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title     = {Multi-Robot Navigation Among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks},
  year      = {2024},
  volume    = {},
  number    = {},
  pages     = {3505-3511},
  keywords  = {Machine learning algorithms;Costs;Navigation;Robot kinematics;Machine learning;System recovery;Benchmark testing;Multi-robot systems;Intelligent robots},
  doi       = {10.1109/IROS58592.2024.10802092}
}

@inproceedings{renault_2020_iros,
  title     = {Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms},
  author    = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  address   = {Las Vegas, United States},
  year      = {2020},
  month     = {October},
  pages     = {11345--11351},
  doi       = {10.1109/IROS45743.2020.9340892},
  url       = {https://hal.archives-ouvertes.fr/hal-02912925},
  pdf       = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf}
}

Changelog for package namosim

0.0.4 (2025-09-18)

0.0.3 (2025-09-08)

0.0.2 (2025-09-08)

• add citation
• docs
• docs
• add demo videos
• Merge pull request #17 from Chroma-CITI/related_work add demo videos to readme
• add demo videos to readme
• Merge pull request #16 from Chroma-CITI/related_work Related work
• cite the collision detection algorithm
• docs
• typo
• sop
• docs/examples
• add citations
• rename env var
• add architecture diagram
• cleanup
• docs
• docs
• docs
• docs
• docs
• Merge pull request #15 from Chroma-CITI/usage_docs add a guide for creating custom agents
• docs
• add contributing guidelines
• fix unit test
• add a guide for creating custom agents
• docs
• move docs from readme to docs site
• docs
• docs
• remove notebooks
• rm old notebooks
• docs
• Merge pull request #14 from Chroma-CITI/e2e_coverage compute coverage for e2e tests
• merge humble
• docs
• compute coverage for e2e tests
• Merge pull request #13 from Chroma-CITI/examples add examples
• add examples
• Contributors: David Brown

0.0.1 (2025-08-26)

• Merge pull request #12 from Chroma-CITI/rm_torch Update instructions
• docs
• Merge pull request #11 from Chroma-CITI/rm_torch remove dependency on pytorch
• typo
• fix circular import
• remove imports of ppo agent
• remove imports of ppo agent
• remove imports of ppo agent
• remove dependency on pytorch
• add jacques as maintainer
• ci
• ci
• ci
• skip unit tests for colcon test
• rm pip deps from package.xml
• move pip packages to exec_depend
• ci
• ci
• show colcon test output
• remove dependency on aabbtree
• fix dependencies and colcon test
• add draft-pdf workflow
• docs
• docs
• docs
• docs
• docs
• docs
• docs
• docs
• docs
• docs
• docs
• docs
• docs

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