geodex: A Library for Motion Planning on Riemannian Manifolds

arXiv:2610.09165 · cs.RO · Submitted 2026-10-06 · Read on arXiv

cs.RO

Submitted: 2026-10-06

Updated: 2026-10-06

Comments: 8 pages, 7 figures, 4 tables. Code, documentation, and tutorials at https://geodex.readthedocs.io

Code: https://github.com/utiasSTARS/geodex

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Steering — 11× in this paper · explained in 2 episodes
• Core — 8× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Local Optimization — 1× in this paper · explained in 2 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Riemannian optimization — 1× in this paper · explained in 2 episodes
• University of Toronto Institute for Aerospace Studies — 1× in this paper

Sources

• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
• Riemannian Motion Policies
• Direct Informed Sampling on Riemannian Manifolds via Loewner Order Lower Bounds
• Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces
• Deploying SICNav in the Field: Safe and Interactive Crowd Navigation using MPC and Bilevel Optimization

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