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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

CONTRIBUTING

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

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	2025-09-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
namosim	0.0.4

README

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 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}
}

namosim repository

ROS Distrohumble

Repository Summary

Packages

README

NAMOSIM

Documentation

Demos

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

Authors

Affiliated Teams and Organisations

Cite Us

CONTRIBUTING

namosim repository

ROS Distrohumble

Repository Summary

Packages

README

NAMOSIM

Documentation

Demos

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

Authors

Affiliated Teams and Organisations

Cite Us

CONTRIBUTING

namosim repository

ROS Distrohumble

Repository Summary

Packages

README

NAMOSIM

Documentation

Demos

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

Authors

Affiliated Teams and Organisations

Cite Us

CONTRIBUTING

namosim repository

ROS Distrohumble

Repository Summary

Packages

README

NAMOSIM

Documentation

Demos

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

Authors

Affiliated Teams and Organisations

Cite Us

CONTRIBUTING

namosim repository

ROS Distrohumble

Repository Summary

Packages

README

NAMOSIM

Documentation

Demos

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

Authors

Affiliated Teams and Organisations

Cite Us

CONTRIBUTING

namosim repository

ROS Distrohumble

Repository Summary

Packages

README

NAMOSIM

Documentation

Demos

NAMOSIM on a Turtlebo

NAMOSIM on Multiple Robots in Gazebo

ROS Distro
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