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G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion

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# G-MAPP: GPU-accelerated Multi-Agent Planning  and Perception for Reactive Motion Generation

[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://raw.githubusercontent.com/CHART-Research/g-mapp/v1/LICENSE)
![Version](https://img.shields.io/badge/version-v1.0--beta-green)
[![arXiv](https://img.shields.io/badge/arXiv-2606.12579-b31b1b.svg)](https://arxiv.org/abs/2606.12579)
[![Project Website](https://img.shields.io/badge/Project-Website-blue.svg)](https://chart-research.github.io/g-mapp)

## Requirements

| Component | Version | Notes |
|-----------|---------|-------|
| [Ubuntu](docs/setup.md#ubuntu-2404) | 24.04 | Base OS |
| [Kernel](docs/setup.md#kernel-680) | 6.8.0 | |
| [Librealsense](docs/setup.md#librealsense) | 2.56.5 | |
| [ROS 2](docs/setup.md#ros-2) | Rolling | |
| [NVIDIA Driver](docs/setup.md#nvidia-driver) | 535 | or greater |
| [CUDA](docs/setup.md#cuda-126) | 12.6 | with compatibility pkg|
| [Open3D](docs/setup.md#open3d-cuda) | | CUDA build |

> Below are the ancillary packages that support the G-MAPP framework. G-MAPP is built using clang. Its dependencies will fail with default GCC building.

| Component | Version | Notes |
|-----------|---------|-------|
| [Clang](docs/setup.md#clang) | 18+ | |
| [CycloneDDS](docs/setup.md#cyclonedds) | | |
| [OpenMP](docs/setup.md#openmp) | | |

## Installation
> We recommend using **Timeshift** (`sudo apt install timeshift`) to create system backups before each critical installation stage.

The installation instructions for each component can be found in [docs/setup.md](docs/setup.md).

## Running

Instructions for running can be found in [docs/run.md](docs/run.md)

## Citation
If you found this work useful, please consider citing:

```bibtex
@article{bishnoi2026gmapp,
  author={Bishnoi, Tanmay and Laha, Riddhiman and Löw, Tobias and Chandy, Jose Alex and Figueredo, Luis F. C. and Haddadin, Sami},
  journal={IEEE Robotics and Automation Letters}, 
  title={G-MAPP: GPU-Accelerated Multi-Agent Planning and Perception for Reactive Motion Generation}, 
  year={2026},
  volume={11},
  number={6},
  pages={7516-7523},
  doi={10.1109/LRA.2026.3678839}
}
```

g-mapp

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