hihixuyang

Area-Coverage

Simulation for planar area coverage by a swarm of ground robots

Consensus-Problem

Distributed agents consensus problem, matlab code

dentopt_nmpc_controller

An event-based on-line adaptable fast nonlinear model predictive control framework

Formation-Algorithm

Multi agent flocking and formation algorithm

formation_control

consensus based formation control of multiple vehicles

IROS2020-paper-list

https://www.iros2020.org/

Multiple-fixed-wing-UAVs-flight-simulation-platform

A multiple fixed-wing UAVs flight simulation platform built by matlab and simulink. 一个小型固定翼无人机集群仿真演示平台

OpenMAS

OpenMAS is an object orientated, descrete time, multi-agent simulator. This piece of software is intended for research into mult-agent systems, collision avoidance, robotics, dynamics & control, decision making machine learning and AI.

robust_vehicle_control

GCMPC-based controller for CaRINA autonomous vehicle

UAV-Coverage

Simulation for planar area coverage by a swarm of UAVs

hihixuyang/Multiple-fixed-wing-UAVs-flight-simulation-platform

A multiple fixed-wing UAVs flight simulation platform built by matlab and simulink. 一个小型固定翼无人机集群仿真演示平台

hihixuyang/IROS2020-paper-list

https://www.iros2020.org/

hihixuyang/Consensus-based-DMPC

Consensus-based Control of Multiple Fixed-wing UAVs Using Distributed Model Predictive Control

hihixuyang/distr_formation_control

Robust 3D Distributed Formation Control with Collision Avoidance for Multirotor Aerial Vehicles.

hihixuyang/fuzzy-qlearning-robot

A Fuzzy Q Learning Controler Implementation for Mobile Robot

hihixuyang/2020_ContinuousTaskBarriers

Continuous Reachability Task Transition using Control Barrier Functions

hihixuyang/2d_grid_playground

2D Grid Environment with common utils (raytracing) and quadrotor dynamics. With Exponential Control Barrier Functions

hihixuyang/3dof_vehicle_sim

Simulation and visualization code for a 3DOF underactuated underwater vehicle.

hihixuyang/aclswarm

MIT ACL formation flying using multirotors

hihixuyang/AFISMC

a new observer-based adaptive fuzzy integral sliding mode controller (AFISMC) is proposed based on the Lyapunov stability theorem. The plant under study is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. In addition, a norm-bounded time varying term is introduced to address the possible existence of un-modelled/nonlinear dynamics. Based on the classical sliding mode controller (SMC), the equivalent control effort is obtained to satisfy the sufficient requirement of SMC and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. The sliding surface is compensated based on the observed states in the form of linear matrix inequality (LMI). In order to relax the norm-bounded constrains on the control law and solve the chattering problem of SMC, a fuzzy logic (FL) inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, by aiming at evaluating the validity of the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

hihixuyang/AUV-modeling-and-sim

This submission contains the files used in this video on modeling, simulation and control of an Autonomous Underwater vehicle - https://www.mathworks.com/videos/modeling-and-simulation-of-an-autonomous-underwater-vehicle-1586937688878.html. This submission models a 6-DoF autonomous underwater vehicle (AUV) and a position and velocity controller for the AUV. You can switch between low and high fidelity sensor and environment models based on your application needs.

hihixuyang/Barrier_MotionPlanning

Control barrier function based motion planning

hihixuyang/Book-Mathmatical-Foundation-of-Reinforcement-Learning

This is the homepage of a new book entitled "Mathmatical Foundations of Reinforcement Learning."

hihixuyang/cbf_quadrotor

Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers. Work in progress.

hihixuyang/Cooperative-Moving-Target-Fencing-Control-for-Two-Layer-UAVs-with-Relative-Measurements

hihixuyang/deep_drone_acrobatics

Code for the project Deep Drone Acrobatics.

hihixuyang/DMPC-for-multi-agent

Distributed model predictive control for multi-agent point-to-point transitions.

hihixuyang/modeling-and-simulation-of-an-AUV-in-Simulink

This repository contains a variety of demonstration example models associated with the Design, Modeling and Simulation of Autonomous Underwater Vehicles webinar and video series.

hihixuyang/MPC-CBF

Model Predictive Control with Control Barrier Functions

hihixuyang/MSS

The Marine Systems Simulator (MSS) is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 2nd Edition, by T. I. Fossen, published in 2021 by John Wiley & Sons Ltd.

hihixuyang/multiagent_planning

Implementation of several multiagent trajectory generation algorithms

hihixuyang/OpenMAS-1

OpenMAS is an open source multi-agent simulator based in Matlab for the simulation of decentralized intelligent systems defined by arbitrary behaviours and dynamics.

hihixuyang/ORCA_control

ORCA control packages for BlueROV2

hihixuyang/paper-simulation

Let's reproduce paper simulations of multi-robot systems, formation control, distributed optimization and cooperative manipulation.

hihixuyang/Reinforcement-Learning-for-Optimal-Feedback-Control-Simulation

hihixuyang/rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group

hihixuyang/SINDY-MPC

hihixuyang/source_seeking_3D

Python simulations to validate our source-seeking algorithm for robot swarms in 3D environments

hihixuyang/Stability-of-time-delayed-complex-ecosystems

hihixuyang/TRO_CBFs-LTL_Robotarium_Experiment

Control Of Mobile Robotics Using Barrier Functions And Temporal Logic