diff --git a/MPC_avoidObs-genom/DESCR b/MPC_avoidObs-genom/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..36ea2f4dbfe9d3966e0a33f327b566bf32e77477
--- /dev/null
+++ b/MPC_avoidObs-genom/DESCR
@@ -0,0 +1,17 @@
+The MPC avoidObs module encapsulates several navigation algorithms. All of them
+are closed-loop algorithms, taking as input the localization provided by the
+POM genom module, and they have been focused on navigating in either flat or
+rough terrain, taking a data elevation map (DEM) as model of the environment
+provided by the DTM genom module. The main algorthms provided here are :
+
+ - A trajectory selection approach : a reactive navigation method allowing
+ to navigate in a unknown environment by computing at each time step a set
+ of candidate trajectories and selecting the best one
+
+ - A trajectory following with obstacle avoidance approach : a reactive
+ method trying to follow a reference trajectory while avoiding unforseen
+ obstacles
+
+Every navigation method provides at each time step a parametric continuous
+control trajectory (continuous sequence of input commands) until a given time
+horizon.
diff --git a/MPC_avoidObs-genom/Makefile b/MPC_avoidObs-genom/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..aeef4d9bc278ca07a0ca30ace09d27660c1abe03
--- /dev/null
+++ b/MPC_avoidObs-genom/Makefile
@@ -0,0 +1,31 @@
+# robotpkg Makefile for: path/MPC_avoidObs-genom
+# Created: Arnaud Degroote on Tue, 10 Jan 2012
+#
+
+DISTNAME= MPC_avoidObs-genom-${VERSION}
+VERSION= 0.2
+CATEGORIES= path
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=MPC_avoidObs-genom/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_OPENROBOTS}MPC_avoidObs-genom
+
+MAINTAINER= openrobots@laas.fr
+#HOMEPAGE=
+COMMENT= Encapsulate several (outdoor) navigation algorithms - GenoM component
+
+GNU_CONFIGURE= yes
+USE_LANGUAGES+= c c++
+
+define PKG_OPTION_UNSET.api
+ include ../../wip/MPC/depend.mk
+ include ../../localization/GPS-genom/depend.mk
+endef
+
+GENOM_MODULE= MPC_avoidObs
+include ../../architecture/genom/depend.mk
+
+include ../../interfaces/genPos-genom/depend.mk
+include ../../localization/pom-genom/depend.mk
+include ../../mapping/dtm-genom/depend.mk
+include ../../wip/MPC_DEMTreatment-genom/depend.mk
+include ../../wip/MPC_planner-genom/depend.mk
+include ../../mk/robotpkg.mk
diff --git a/MPC_avoidObs-genom/PLIST b/MPC_avoidObs-genom/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..ae0fdfcaa0b4f5f4420e8970a12b85ea2b10c7a8
--- /dev/null
+++ b/MPC_avoidObs-genom/PLIST
@@ -0,0 +1,37 @@
+@comment Thu Aug 6 15:08:46 CEST 2009
+${PLIST.noapi}bin/MPC_avoidObs
+${PLIST.noapi}bin/MPC_avoidObsSendInitRqst
+${PLIST.noapi}bin/MPC_avoidObsTest
+include/MPC_avoidObs/MPC_avoidObs-Struct.h
+${PLIST.openprs}include/MPC_avoidObs/server/openprs/MPC_avoidObsDecodeOpenprs.h
+${PLIST.openprs}include/MPC_avoidObs/server/openprs/MPC_avoidObsEncodeOpenprs.h
+${PLIST.openprs}include/MPC_avoidObs/server/openprs/MPC_avoidObsRequestsOpenprsProto.h
+include/MPC_avoidObs/server/MPC_avoidObsEndian.h
+include/MPC_avoidObs/server/MPC_avoidObsError.h
+${PLIST.noapi}include/MPC_avoidObs/server/MPC_avoidObsMsgLib.h
+include/MPC_avoidObs/server/MPC_avoidObsPosterLib.h
+include/MPC_avoidObs/server/MPC_avoidObsPosterLibStruct.h
+${PLIST.noapi}include/MPC_avoidObs/server/MPC_avoidObsPosterReadLibProto.h
+${PLIST.noapi}include/MPC_avoidObs/server/MPC_avoidObsPosterShowLib.h
+${PLIST.noapi}include/MPC_avoidObs/server/MPC_avoidObsPosterWriteLibProto.h
+${PLIST.noapi}include/MPC_avoidObs/server/MPC_avoidObsPosterXMLLib.h
+include/MPC_avoidObs/server/MPC_avoidObsPrint.h
+include/MPC_avoidObs/server/MPC_avoidObsPrintXML.h
+include/MPC_avoidObs/server/MPC_avoidObsScan.h
+include/MPC_avoidObs/server/MPC_avoidObsType.h
+${PLIST.tclserv_client}include/MPC_avoidObs/server/tclservClient/MPC_avoidObsTclservClientDecode.h
+${PLIST.tclserv_client}include/MPC_avoidObs/server/tclservClient/MPC_avoidObsTclservClientEncode.h
+${PLIST.tclserv_client}include/MPC_avoidObs/server/tclservClient/MPC_avoidObsTclservClientMsgLib.h
+lib/libMPC_avoidObsClient.la
+${PLIST.openprs}lib/openprs/libMPC_avoidObsOpenprs.la
+${PLIST.openprs}lib/pkgconfig/MPC_avoidObs-oprs.pc
+lib/pkgconfig/MPC_avoidObs.pc
+${PLIST.tclserv_client}lib/pkgconfig/MPC_avoidObs-tclserv_client.pc
+${PLIST.tclserv_client}lib/tclservClient/libMPC_avoidObsTclservClient.la
+${PLIST.tcl}lib/tclserv/libMPC_avoidObsTclServ.la
+share/modules/gen/MPC_avoidObs.gen
+${PLIST.openprs}share/modules/openprs/MPC_avoidObsOpenprs.inc
+${PLIST.openprs}share/modules/openprs/MPC_avoidObsOpenprs.opf
+${PLIST.openprs}share/modules/openprs/MPC_avoidObsOpenprs.sym
+${PLIST.noapi}${PLIST.tcl}share/modules/tcl/MPC_avoidObsClient.tcl
+${PLIST.openprs}@dirrm include/MPC_avoidObs/server/openprs
diff --git a/MPC_avoidObs-genom/depend.mk b/MPC_avoidObs-genom/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..d92e0b230ceda3fc21bed1a1555c30bf5353caae
--- /dev/null
+++ b/MPC_avoidObs-genom/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for: path/MPC_avoidObs-genom
+# Created: Arnaud Degroote on Tue, 10 Jan 2012
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+MPC_AVOIDOBS_GENOM_DEPEND_MK:= ${MPC_AVOIDOBS_GENOM_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= MPC_avoidObs-genom
+endif
+
+ifeq (+,$(MPC_AVOIDOBS_GENOM_DEPEND_MK))
+PREFER.MPC_avoidObs-genom?= robotpkg
+
+DEPEND_USE+= MPC_avoidObs-genom
+
+DEPEND_ABI.MPC_avoidObs-genom?= MPC_avoidObs-genom>=0.2
+DEPEND_DIR.MPC_avoidObs-genom?= ../../wip/MPC_avoidObs-genom
+
+SYSTEM_SEARCH.MPC_avoidObs-genom=\
+ include/MPC_avoidObs/MPC_avoidObs-Struct.h \
+ lib/pkgconfig/MPC_avoidObs.pc
+
+include ../../architecture/genom/depend.mk
+
+endif
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/MPC_avoidObs-genom/distinfo b/MPC_avoidObs-genom/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..f7af051d59f7bda06bc0c0fb99f62e83cac75fae
--- /dev/null
+++ b/MPC_avoidObs-genom/distinfo
@@ -0,0 +1,3 @@
+SHA1 (MPC_avoidObs-genom-0.2.tar.gz) = cf8e05bdf10652fbe7543d5f5c0358604f6e76f6
+RMD160 (MPC_avoidObs-genom-0.2.tar.gz) = e0c34371a8dba28047cdabf4a2030e4528d0e99c
+Size (MPC_avoidObs-genom-0.2.tar.gz) = 26076 bytes
diff --git a/Makefile b/Makefile
index a0b2a0d33fe9455905ed07a9d87c80fb3aae49a2..fc2b113bf1c04691d0cea168d33a03f8c7f42b16 100644
--- a/Makefile
+++ b/Makefile
@@ -22,6 +22,7 @@ SUBDIR+= libfreenect
SUBDIR+= libmove3d
SUBDIR+= lwr-genom
SUBDIR+= MPC
+SUBDIR+= MPC_avoidObs-genom
SUBDIR+= MPC_planner-genom
SUBDIR+= MPC_DEMTreatment-genom
SUBDIR+= mhp-genom