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This is the homepage of a new book entitled "Mathematical Foundations of Reinforcement Learning."
MATLAB sample codes for mobile robot navigation
IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.
This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's …
This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is based on the Casadi Package which is used for numerical optimi…
Manopt, a Matlab toolbox for optimization on manifolds
A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)
Matlab Implementations of some basic motion planning algorithms, such as A*, RRT, RRT*, Minimum Snap Trajectory Generation, etc..
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Comparative Evaluation of Hand-Crafted and Learned Local Features
Model Predictive Control for autonomous vehicle trajectory tracking control, in Matlab.
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
SmarmLab: a versatile Matlab package for drone swarm simulation.
Representation-Free Model Predictive Control for Dynamic Quadruped
Drone-based Joint Density Map Estimation, Localization and Tracking with Space-Time Multi-Scale Attention Network
OpenMAS is an open source multi-agent simulator based in Matlab for the simulation of decentralized intelligent systems defined by arbitrary behaviours and dynamics.
Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. This dataset is annotated using the same protocal as Cornell Dataset, and can be used as multi-object extension of Cor…
Robotic Order Fulfillment System Using Kiva-like mobile robots. Conflict-based Search multi-robot path planning.
Multi-Robot Path Planning on Graphs Solution by A* algorithm
Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382
Repo containing the urdf and frost based models of Cassie
Design and simulation model predictive control for path following with mobile robot.
Dynamic decentralized task allocation algorithms for multi-agent systems using auctions and machine learning
LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot
Code and datasets for paper: "An Asynchronous Kalman Filter for Hybrid Event Cameras", ICCV 2021. Reconstruct continuous-time HDR video using events and frames.