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Path planning for autonomous vehicles using constrained iLQR.
Optimization-based real-time path planning for vehicles.
ROS Trajectory Tracking Control package
Design and simulation model predictive control for path following with mobile robot.
[ICRA 2023] Adaptive and Explainable Deployment of Navigation Skills via Hierarchical Deep Reinforcement Learning
Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Clean, Robust, and Unified PyTorch implementation of popular Deep Reinforcement Learning (DRL) algorithms (Q-learning, Duel DDQN, PER, C51, Noisy DQN, PPO, DDPG, TD3, SAC, ASL)
ROS package for efficient autonomous navigation of AGVs in complex, unknown, cluttered environments
a solver-free polynomial trajectory generation framework
ROS package for dynamic obstacle avoidance for ground robots trained with deep RL
[ICRA19] Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning
A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
Robot kinematics implemented in pytorch
Motion Planning for Vehicle with Static and Dynamic Obstacle Avoidance using Optimal Based Collision Avoidance (OBCA).
Model Predictive Control using acados and ROS.
An implementation of real-time optimal trajectory generation bases on the minimum snap trajectory.
Hierarchical Optimization-Based Collision Avoidance - a path planner for autonomous parking
Integrated Planning and Control for Quadrotor Navigation in Presence of Sudden Crossing Objects and Disturbances
Modular framework for online informative path planning.
😎 A curated list of robotics libraries and software
A Robust and Efficient Trajectory Planner for Quadrotors
Quadratic programming solvers in Python with a unified API
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
LAMPOS, a strategy-based solution approach for mp-MILPs for real-time mixed-integer MPC with sub-optimality quantification