Pinned Repositories
Continuous_Finite_LQR
Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator
dscTutorials
A few simple tutorials for dynamical systems and control. Most require Matlab.
IntroMatlabDynamics
A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems
Kinematic_Constrained_Trajectory
ME149_Spring2018
Optimal Control for Robotics -- Tufts University -- ME 149 -- Spring 2018
OptimTraj
A trajectory optimization library for Matlab
ParticleSwarmOptimization
Matlab implementation of particle swarm optimization. Well documented with examples.
poker-stats
Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.
RungeKuttaCpp
A collection of explicit runge-kutta integrators, written in C++
Tractor_Trailer_Control
Simulation of a tractor-trailer truck driving backwards along a curving road. Control via time-varying linear quadratic regulator, estimation via extended Kalman filter
MatthewPeterKelly's Repositories
MatthewPeterKelly/OptimTraj
A trajectory optimization library for Matlab
MatthewPeterKelly/ParticleSwarmOptimization
Matlab implementation of particle swarm optimization. Well documented with examples.
MatthewPeterKelly/ME149_Spring2018
Optimal Control for Robotics -- Tufts University -- ME 149 -- Spring 2018
MatthewPeterKelly/IntroMatlabDynamics
A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems
MatthewPeterKelly/Continuous_Finite_LQR
Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator
MatthewPeterKelly/Kinematic_Constrained_Trajectory
MatthewPeterKelly/Bouncing_Ball_Matlab
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
MatthewPeterKelly/DirCol5i
Trajectory Optimization in Matlab, specialized for problems with higher-derivatives (eg. jerk or snap) and / or implicit dynamics.
MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial: derive equations of motion for mechanical systems using Lagrange equations
MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
MatthewPeterKelly/matthewpeterkelly.github.io
A new place to host my personal website.
MatthewPeterKelly/website
A repository for development of my personal website.
MatthewPeterKelly/Acrobot_Derivation_Matlab
Derivation of the equations of motion and simulation for the acrobot, an under-actuated double pendulum robot.
MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.
MatthewPeterKelly/FluenceMapping
Trajectory optimization to match fluence profiles.
MatthewPeterKelly/numerical-methods-in-python
This project contains a set of standard numerical methods that I have implemented in python. The source-code for this project is intended to be read as a tutorial.
MatthewPeterKelly/RangerSimulation
Source code for my two most well-documented simulators for the Cornell Ranger walking robot.
MatthewPeterKelly/sns_ik
Saturation in the Null Space (SNS) Inverse Kinematic Library
MatthewPeterKelly/TwoPhaseOptimalGait
Trajectory optimization, using GPOPS-II, for two-phase walking and running gaits, for a simple walking model
MatthewPeterKelly/Dynamics_Function_Gradient
Computes gradient of f(x) = A(x) \ b(x) in Matlab.
MatthewPeterKelly/MDP_Pendulum
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
MatthewPeterKelly/Polynomial_Smoothing_Matlab
Implementation of polynomial smoothing for several basic functions
MatthewPeterKelly/Toppling_Stick
Finite-State-Machine simulation of a toppling stick. Careful Analysis. Matlab.
MatthewPeterKelly/poker-stats
Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.
MatthewPeterKelly/myJavaPkgs
Java utility packages that I wrote, generally related to simulation.
MatthewPeterKelly/RombergQuadrature
MatthewPeterKelly/DrivenDampedPendulum
Matlab code for playing with the driven-damped-pendulum fractal
MatthewPeterKelly/miscpy
Miscellaneous python utilities
MatthewPeterKelly/PolynomialSplines
Derivation of a few different polynomial splines using the Matlab symbolic toolbox. Also includes interpolation and fitting routines.
MatthewPeterKelly/rust
Empowering everyone to build reliable and efficient software.