Repository for construction of Koopman eigenfunctions for unknown dynamical systems and identification of a lifted state-space model using Koopman Eigenfunction Extended Dynamic Mode Decomposition …

Natural Language-driven Controller Personalization Framework 📣

Natural Language-driven Controller Personalization Framework 📣

"CBF-LLM: Safe Control for LLM Alignment"

ROS2/ROS interface with PX4 through a Fast-RTPS bridge

Exam & Example

Accompanying implementation and simulation for the paper "Preventing Unconstrained CBF Safety Filters Caused by Invalid Relative Degree Assumptions."

Trajectory Tracking with Obstacle Avoidance using Control Barrier Functions and Quadratic Programming for Optimal Control

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

Code pertaining to the Turtlebot3 refineCBF implementation.

Code pertaining to the Turtlebot3 refineCBF implementation.

Repository for intrinsic neural ODEs on Lie groups. Currently shows example of optimal potential energy shaping and damping injection control for a rigid body on the Lie group SE(3)

A (hopefully) comprehensive, straightforward, and step-by-step guide for setting up and running a PX4 simulation using Gazebo and QGroundControl on a fresh Ubuntu machine.

A multi-uav formation control algorithm for tracking a dynamic target

Project codes for NMPC based Target Tracking

A Control Barrier Function Candidate for Limited Field of View Sensors

This is a work on using meta-reinforcement learning to achieve autonomous target tracking and obstacle avoidance for UAVs

Repeatability Evaluation Package for HSCC2020 accepted paper No. 72

Webots Robot Simulator

Webots projects (PROTO files, controllers, simulation worlds, etc.) contributed by the community.

二次元动漫收集

Solving a constrained robust optimal control problem with uncertain neural network dynanmics through convex optimization.