Mobile Robot Programming Toolkit

{{Infobox software

| name = Mobile Robot Programming Toolkit (MRPT)

| screenshot = Logo of the MRPT project.png

| screenshot size = 150px

| caption = MRPT logo

| developer = [https://w3.ual.es/~jlblanco/ José Luis Blanco Claraco], [https://github.com/MRPT/mrpt/blob/master/AUTHORS contributors]

| genre = Robotics suite

| license = BSD 3-clause

| latest release version = 2.11.5

| latest release date = {{Start date and age|2023|12|21}}{{cite web |url=https://github.com/MRPT/mrpt |title=Releases: MRPT |website=GitHub.com |access-date=2024-01-13}}

| operating system = Linux, Windows, macOS

| programming language = C++

| platform = Cross-platform

| repo = {{URL|https://github.com/MRPT/mrpt}}

| website = {{URL|www.mrpt.org}}

}}

The Mobile Robot Programming Toolkit (MRPT) is a cross-platform software C++ library for helping robotics researchers design and implement algorithms related to simultaneous localization and mapping (SLAM), computer vision, and motion planning (obstacle avoidance). Different research groups have employed MRPT to implement projects reported in some of the major robotics journals and conferences.{{cite conference |citeseerx=10.1.1.127.3097 |title=Consistent observation grouping for generating metric-topological maps that improves robot localization |last1=Blanco |first1=J. L. |last2=Gonzalez |first2=J. |last3=Fernández-Madrigal |first3=J. and J.A. |year=2006 |book-title=IEEE International Conference on Robotics and Automation (ICRA) |pages=818–823 |doi=10.1109/ROBOT.2006.1641810}}{{cite conference |title=Survey of popular robotics simulators, frameworks, and toolkits |last1=Harris |first1=A. |last2=Conrad |first2=J.M. |date=March 2011 |book-title=Proceedings of IEEE Southeastcon |pages=243–249 |doi=10.1109/SECON.2011.5752942}}{{cite journal |last1=Ryde |first1=J. |last2=Hu |first2=H. |year=2010 |title=3D mapping with multi-resolution occupied voxel lists |journal=Autonomous Robots |volume=28 |issue=2 |pages=169–185 |publisher=Springer |doi=10.1007/s10514-009-9158-3 |citeseerx=10.1.1.153.5916 |s2cid=6659876}}{{cite conference |last1=Tuza |first1=Z. |last2=Rudan |first2=J. |last3=Szederkényi |first3=G |date=October 2010 |chapter=Developing an integrated software environment for mobile robot navigation and control |title=International Conference on Indoor Positioning and Indoor Navigation |pages=1–6 |doi=10.1109/IPIN.2010.5647506}}[http://www.mrpt.org/Papers A list of scientific papers] in which MRPT has been used for producing the results.

MRPT is free and open-source software released under the BSD 3-clause license; pre-1.0.0 versions were released under the GNU General Public License (GPL).

Some features included in the project as user-applications:

• Visualization and manipulation of large datasets.
• SLAM algorithms: incremental mapping with ICP, Extended Kalman filtering, Rao-Blackwellized particle filters and GraphSLAM.
• Grabbing datasets from robotic sensors.

Upon a selection of the individual libraries provided by MRPT,{{cite web |author=MRPT.org |url=http://www.mrpt.org/Libraries |title=List of MRPT libraries |date=2013-10-08 |access-date=2014-04-19}} users can develop new applications.

MRPT participated in Google Summer of Code in 2016–2018.{{cite web |author=GSOC |url=https://summerofcode.withgoogle.com/archive/2016/organizations/5644101080842240/ |title=MRPT page in GSOC 2016 |date=2018-08-07 |access-date=2018-08-07 |archive-date=2020-10-26 |archive-url=https://web.archive.org/web/20201026071254/https://summerofcode.withgoogle.com/archive/2016/organizations/5644101080842240/ |url-status=dead}}{{cite web |author=GSOC |url=https://summerofcode.withgoogle.com/archive/2017/organizations/5289044053327872/ |title=MRPT page in GSOC 2017|date=2018-08-07 |access-date=2018-08-07}}