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namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

namosim repository

namosim

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Chroma-CITI/namosim.git
VCS Type git
VCS Version humble
Last Updated 2025-09-04
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
namosim 0.0.1

README

CI

NAMOSIM

NAMO Simulator

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 Turtlebot

NAMOSIM on Multiple Robots in Gazebo

NAMOSIM on Multiple Robots in Gazebo

Authors

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

Affiliated Teams and Organisations

  Org/Team
Inria Logo Inria
INSA Lyon Logo INSA Lyon
CITI Logo 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:hal-04705395,
  TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier},
  URL = {https://hal.science/hal-04705395},
  BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Abu DHABI, United Arab Emirates},
  PUBLISHER = {{IEEE}},
  PAGES = {1-7},
  YEAR = {2024},
  MONTH = Oct,
  KEYWORDS = {Planning ; Scheduling and Coordination ; Path Planning for Multiple Mobile Robots or Agents ; Multi-Robot Systems},
  PDF = {https://hal.science/hal-04705395v1/file/IROS24_1134_FI.pdf},
  HAL_ID = {hal-04705395},
  HAL_VERSION = {v1},
}


@inproceedings{renault:hal-02912925,
  TITLE = {{Modeling a Social Placement Cost to Extend Navigation Among Movable Obstacles (NAMO) Algorithms}},
  AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Simonin, Olivier},
  URL = {https://hal.archives-ouvertes.fr/hal-02912925},
  BOOKTITLE = {{IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  ADDRESS = {Las Vegas, United States},
  SERIES = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference Proceedings},
  PAGES = {11345-11351},
  YEAR = {2020},
  MONTH = Oct,
  DOI = {10.1109/IROS45743.2020.9340892},
  KEYWORDS = {Navigation Among Movable Obstacles (NAMO) ; Socially- Aware Navigation (SAN) ; Path planning ; Simulation},
  PDF = {https://hal.archives-ouvertes.fr/hal-02912925/file/IROS_2020_Camera_Ready.pdf},
  HAL_ID = {hal-02912925},
  HAL_VERSION = {v1},
}

CONTRIBUTING