SangliTeng's Stars
leggedrobotics/se2_navigation
Pure Pursuit Control and SE(2) Planning
leggedrobotics/ocs2
Optimal Control for Switched Systems
HarvardAgileRoboticsLab/unscented-dynamic-programming
A trajectory optimization algorithm that doesn't require dynamics derivatives
locuslab/qpth
A fast and differentiable QP solver for PyTorch.
brentyi/jax-ekf
Generic EKF, with support for non-Euclidean manifolds
StanfordASL/Adaptive-Control-Oriented-Meta-Learning
Adaptive control-oriented meta-learning for nonlinear systems
RossHartley/invariant-ekf-ros
ROS wrapper for the invariant-ekf C++ library.
UMich-CURLY-teaching/UMich-ROB-530-public
UMich 500-Level Mobile Robotics Course
YanranDing/RF-MPC
Representation-Free Model Predictive Control for Dynamic Quadruped
wanxinjin/Safe-PDP
Safe Pontryagin Differentiable Programming (Safe PDP) is a new theoretical and algorithmic safe differentiable framework to solve a broad class of safety-critical learning and control tasks.
UMich-BipedLab/Cassie_CFROST
UMich-BipedLab/CLF_reactive_planning_system
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.
GeorgeBoutselis/DDP-LieGroups
Differential Dynamic Programming on Lie groups
jlblancoc/nanoflann
nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees
robotology/osqp-eigen
Simple Eigen-C++ wrapper for OSQP library
Huan2018/BeliefSpacePlanning
Implementation of important belief space planning research papers to progress in my research at Biorobotics Lab, CMU
ompl/ompl
The Open Motion Planning Library (OMPL)
RossHartley/invariant-ekf
C++ library to implement invariant extended Kalman filtering for aided inertial navigation.
HybridRobotics/CBF-Pointwise-Feasibility
"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
MMehrez/MPC-and-MHE-implementation-in-MATLAB-using-Casadi
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 optimization. A non-holonomic mobile robot is used as a system for the implementation. The workshop video recording can be found here https://www.youtube.com/playlist?list=PLK8squHT_Uzej3UCUHjtOtm5X7pMFSgAL ... Casadi can be downloaded here https://web.casadi.org/
SangliTeng/DynamicStateEstimation
ROB530 Project Winter 2021
thu-ml/tianshou
An elegant PyTorch deep reinforcement learning library.
KumarRobotics/msckf_vio
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
fengdu78/Data-Science-Notes
数据科学的笔记以及资料搜集
mit-biomimetics/Cheetah-Software
XiaojingGeorgeZhang/OBCA
Optimization-Based Collision Avoidance - a path planner for autonomous navigation
MatthewPeterKelly/OptimTraj
A trajectory optimization library for Matlab
HybridRobotics/MPC-CBF
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
mrsd16teamd/matlab_iLQR
Implementations of the iLQR algorithm
MatthewPeterKelly/Continuous_Finite_LQR
Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator