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adrpy

Aircraft Design Recipes in Python

cbba-python

This is a Python implementation of CBBA (Consensus-Based Bundle Algorithm).

direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

eece_7398_leggedrobotics

faster

3D Trajectory Planner in Unknown Environments

gazebo

Open source robotics simulator.

lidar_localization_ros2

3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)

mav_control_fw

Model Predictive Control strategies for fixed wing Micro Aerial Vehicles using ROS

mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS

mppi_cbf

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

my_docker

ndf-1

Neural Unsigned Distance Fields (NDF) - Codebase

neural-network-lyapunov

Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.

neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions

origamisimulator

Realtime WebGL origami simulator

px4-avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.

px4-part

PX4 Autopilot Software

pydecomp

A Python based implementation for fast convex decomposition of obstacle-free spaces.

reef_control

Open-source PID controller designed to work with REEF Estimator and ROSFlight

reef_estimator

A simplified open source velocity estimator designed for multirotors.

ros_unitree

scout_ros2

ROS2 Support Package for Scout Robot

sim_helper

ugv_gazebo_sim

gazebo_sim

unitree_docker

unitree_legged_sdk

SDK tools for control robots.

unitree_ros2_to_real

A ROS2 package you can use to control the real Go1 robot

vehicle_mpc

MPC controller for linear, nonlinear, and robust linear kinematic bicycle model