Pinned Repositories
A_star_and_Hybrid_A_star
Given a graph, A* finds the optimal path, if it exists, joining the start node to the goal node. Hybrid A* takes vehicle dynamics into consideration and generates a smoother path which the vehicle can follow. Both the implementations are optimized using dictionaries & heaps
Control_of_mobile_robots_Coursera
Repository contains some of the control algorithms that were implemented to make a ground robot go to a goal by avoiding obstacles (work done on a robot simulator)
ECE517_Nonlinear_and_Adaptive_Control
Contains simulation code for different homework assignment problems showcasing controller design for stabilizing systems with unknown parameters/distrubances etc
Estimation_and_Learning_Coursera
Contains material regarding how robots can determine states and other properties from noisy measurements etc.
Kalman_Filter_and_Extended_Kalman_Filter
Implementation of an EKF to predict states of a 6 DOF drone using GPS-INS fusion. Also ass3_q2 and ass_q3_kf show the difference between state estimation without KF and with KF
ME_446_Robots_Dynamics_and_Control
Implementation of different kinds of controllers on a Catalyst 5 robot arm. The following website contains the entire summary of the work along with videos of the robot in action.
Motion_planning_Coursera
Implementation of Path planning algorithms including Astar, Dijkstra Algorithm, probabilistic road maps etc
MPC_for_autonomous_vehicle_steering
Contains simulink model for lateral vehicle control using linear MPC (Model Predictive Control). The model is based off the following example: https://www.mathworks.com/help/releases/R2017b/mpc/examples/autonomous-vehicle-steering-using-model-predictive-control.html
MRAC_wing_rock_model
Application shows advantage of Classical MRAC using RBFs over PD control when unmodeled dynamics are present in the system (wing rock model).
Robust_estimator_design_for_switched_systems
Implementation of example problem in "Robust estimator design for switched systems with unknown switching time: An LMI based approach"
jvirdi2's Repositories
jvirdi2/Kalman_Filter_and_Extended_Kalman_Filter
Implementation of an EKF to predict states of a 6 DOF drone using GPS-INS fusion. Also ass3_q2 and ass_q3_kf show the difference between state estimation without KF and with KF
jvirdi2/A_star_and_Hybrid_A_star
Given a graph, A* finds the optimal path, if it exists, joining the start node to the goal node. Hybrid A* takes vehicle dynamics into consideration and generates a smoother path which the vehicle can follow. Both the implementations are optimized using dictionaries & heaps
jvirdi2/ECE517_Nonlinear_and_Adaptive_Control
Contains simulation code for different homework assignment problems showcasing controller design for stabilizing systems with unknown parameters/distrubances etc
jvirdi2/Robust_estimator_design_for_switched_systems
Implementation of example problem in "Robust estimator design for switched systems with unknown switching time: An LMI based approach"
jvirdi2/MPC_for_autonomous_vehicle_steering
Contains simulink model for lateral vehicle control using linear MPC (Model Predictive Control). The model is based off the following example: https://www.mathworks.com/help/releases/R2017b/mpc/examples/autonomous-vehicle-steering-using-model-predictive-control.html
jvirdi2/MRAC_wing_rock_model
Application shows advantage of Classical MRAC using RBFs over PD control when unmodeled dynamics are present in the system (wing rock model).
jvirdi2/Estimation_and_Learning_Coursera
Contains material regarding how robots can determine states and other properties from noisy measurements etc.
jvirdi2/ME_446_Robots_Dynamics_and_Control
Implementation of different kinds of controllers on a Catalyst 5 robot arm. The following website contains the entire summary of the work along with videos of the robot in action.
jvirdi2/Motion_planning_Coursera
Implementation of Path planning algorithms including Astar, Dijkstra Algorithm, probabilistic road maps etc
jvirdi2/Control_of_mobile_robots_Coursera
Repository contains some of the control algorithms that were implemented to make a ground robot go to a goal by avoiding obstacles (work done on a robot simulator)
jvirdi2/Machine_Learning_Coursera
Applications of supervised & unsupervised ML algorithms for image classification, anomaly detection, linear & logistic regression etc
jvirdi2/Cpp_HackerRank
Solutions to some of the Hacker Rank problems like interval scheduling problem, usage of classes for matrix operations etc
jvirdi2/Deep_Learning_AI___Improving_DNN
Contains python code on how to improve performance of DNN, regularization, hyper parameter tuning & usage of DNN frameworks like tensorflow for multi class classification problems
jvirdi2/Deep_Learning_AI___Neural_Networks_and_Deep_Learning
Contains python code on creating generalized L-layer Deep NN, its application on classifying cat vs non cat images correctly etc
jvirdi2/Deep_Learning_AI__Convolutional_Neural_Networks
Repository contains work on implementing convnets for image classification, object detection, residual networks, face recognition etc
jvirdi2/Introduction_to_aerial_robotics_Coursera
Designing PD controller for quadcopter to achieve reference trajectory tracking
jvirdi2/ME461_Computer_Control_of_Mechanical_Systems
Contains Labview code & C programs for developing various applications using MSP430 microcontroller
jvirdi2/Python_HackerRank
Solutions to some of the Hacker Rank problems etc
jvirdi2/Robotics_Perception_Coursera
Contains material regarding applications of perception to the area of robotics. Eg extracting 3D information from 2D set of images, how one finds robot pose from just a set of images etc
jvirdi2/Segbot_with_color_based_state_machine
Balancing two-wheel robot with an onboard camera. When different colors are seen, the robot executes different trajectories.