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

Requirements

Component	Version	Notes
Ubuntu	24.04	Base OS
Kernel	6.8.0
Librealsense	2.56.5
ROS 2	Rolling
NVIDIA Driver	535	or greater
CUDA	12.6	with compatibility pkg
Open3D		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	18+
CycloneDDS
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.

Running

Instructions for running can be found in docs/run.md

Citation

If you found this work useful, please consider citing:

@article{bishnoi2026gmapp,
  author={Bishnoi, Tanmay and Laha, Riddhiman and Loẅ, 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={},
  number={},
  pages={},
  doi={},
  publisher={IEEE}
}