kwesiRutledge

Abstraction-Based-Controller-Design

This repository is based on the work of `On abstraction-based controller design with output feedback` by Rupak Majumdar, Necmiye Ozay, and Anne-Kathrin Schmuck.

brom_drake-py

Brom is a helper library for the Drake robotics simulation and verification library.

Continuum-Robot-Kinematics

My experiments with Continuum Robot Kinematics are documented here. Test functions and functions that incorporate various methods for continuum robot kinematics will be contained (hopefully in different folders) in this project.

Eq-Perf-Tests

kinova_drake

Code for controlling a Kinova Gen3 Manipulator via Drake.

ModelChecking

An implementation of the algorithms in Baier and Katoen (and maybe more!). Feel free to message me about desired functionality or errors that you might find.

OzayGroupExploration

Some of the code that I use to explore ideas (Model Checking, Game Theory, etc.) while a member of the Özay Group at the University of Michigan.

systemRepository

This repository is meant to contain some definitions of systems in the MATLAB environment. I hope to use it to easily create examples for future research papers/fun experiments.

MatProInterface.go

A common interface used for modeling Mathematical Programs (e.g., Convex Optimization problems) in the language Go (Golang).

SymbolicMath.go

A symbolic math module for the Go (Golang) Programming Language.

kwesiRutledge/Continuum-Robot-Kinematics

My experiments with Continuum Robot Kinematics are documented here. Test functions and functions that incorporate various methods for continuum robot kinematics will be contained (hopefully in different folders) in this project.

kwesiRutledge/brom_drake-py

Brom is a helper library for the Drake robotics simulation and verification library.

kwesiRutledge/OzayGroupExploration

Some of the code that I use to explore ideas (Model Checking, Game Theory, etc.) while a member of the Özay Group at the University of Michigan.

kwesiRutledge/Eq-Perf-Tests

kwesiRutledge/ModelChecking

An implementation of the algorithms in Baier and Katoen (and maybe more!). Feel free to message me about desired functionality or errors that you might find.

kwesiRutledge/gurobi.go

unofficial Gurobi inferface for Golang

kwesiRutledge/MapOsmdroidKotlinExample

kwesiRutledge/slider-benchmarks

A number of manipulation algorithms for the Pusher-Slider system implemented in Python.

kwesiRutledge/goop2

This project is meant to implement an optimization toolbox with nice default features like MATLAB's YALMIP. It is a spiritual successor to the goop library from MIT's Distributed Robotics Lab. This version is meant to be written in pure Go and makes use of my own low-level library for interfacing with Gurobi.

kwesiRutledge/kinova_drake

Code for controlling a Kinova Gen3 Manipulator via Drake.

kwesiRutledge/measurement-scheduling0

This repository is meant to house some of the ideas from the joint project between Prof. Ozay (University of Michigan) and Prof. Jungers (Université catholique de Louvain) about scheduling measurements for a linear system.)

kwesiRutledge/ModelChecking.jl

An implementation of some of the algorithms developed in the Principles of Model Checking by Baier and Katoen. This repository is meant to be used as a learning tool and thus may not include the most efficient algorithms.

kwesiRutledge/systemRepository

This repository is meant to contain some definitions of systems in the MATLAB environment. I hope to use it to easily create examples for future research papers/fun experiments.

kwesiRutledge/awesome-go

A curated list of awesome Go frameworks, libraries and software

kwesiRutledge/drake

A planning, control, and analysis toolbox for nonlinear dynamical systems. Please see the WIKI for documentation.

kwesiRutledge/drone-testbed

Code for drone control

kwesiRutledge/finite-horizon-adaptive-control

kwesiRutledge/franka_ros

A template repository for projects that run on our Franka Research 3

kwesiRutledge/go-polyhedron

A short repository written in the form of MPT3. Meant to make it easier to analyze Polyhedron objects in go.

kwesiRutledge/goControl

This is meant to be a library for golang which implements several of the nicer functions from MATLAB for doing Control Theory work including manipulation of Polyhedra (like MPT3).

kwesiRutledge/goop

Generalized Mixed Integer Optimization in Go

kwesiRutledge/jax

Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more

kwesiRutledge/KAM.jl

An implementation of the Knowledge Abstraction and Minimization algorithm from Ozay, Majumdar and Schmuck.

kwesiRutledge/kltl0

A set of experiments used to perform design of control algorithms for the temporal logic KLTL.

kwesiRutledge/learning-to-slide

kwesiRutledge/neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions

kwesiRutledge/qpth

A fast and differentiable QP solver for PyTorch.

kwesiRutledge/STLPlanning

Path planning from STL (Signal Temporal Logic) specifications

kwesiRutledge/STLPlanning.jl

An implementation of the algorithms defined by STLPlanning from the REALM (a laboratory at MIT).

kwesiRutledge/trajax