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mpc-mobile-robot-path-following

Design and simulation model predictive control for path following with mobile robot.

mpc_autonomousplanning

A C++ ROS package implementing trajectory planning using MPC for an autonomous vehicle project

multitarget-tracker

Multiple Object Tracker, Based on Hungarian algorithm + Kalman filter.

network

asio examples

networkit

NetworKit is a growing open-source toolkit for large-scale network analysis.

nmpc_dynamic_planning

Path planning using nonlinear model predictive control in dynamic environments

null_space_control

object_tracking_kalman_filter

Tracking and analysis of a moving object on a 2-Dimensional space (video) using Kalman filter Algorithm

objecttrackingkalmanfilter

Implementation of Kalman filter to track a moving ball

onedpl

oneAPI DPC++ Library (oneDPL) https://software.intel.com/content/www/us/en/develop/tools/oneapi/components/dpc-library.html

opencl-experiments

messing about with opencl

openmp-programming

panda_matlab_control

From learned trajectory, with variance, to trajectory scaling, admittance control of task and null space, to simulation and real robot control via fake/real ROS nodes.

parsertest

path-planning-algorithms

Many path planning algorithms implemented as a part of Robotics Course for eg. A*, D*, RRT, RRT*

path-planning-optimization-algorithm-simulation-based-on-genetic-algorithm

Path Planning Optimization Algorithm Simulation Based on Genetic Algorithm. For more details, please refer to the article “Path Planning of Mobile Robot Based on Genetic Algorithm and Gene Rearrangement”

path_optimizer

Optimization-based real-time path planning for vehicles.

pathplanning

Common used path planning algorithms with animations.

pdob

PDOB - Periodic-Disturbance Observer

peer_to_peer_text_voice_udp

Window Application, Peer to Peer VoIP

pid-autotuning

Implementation of a Genetic Algorithm for tuning the gains of a PID Controller

pid-controller

Design of a PID Controller for a given SISO system using Genetic Algorithm

pid-controller-tuning-using-genetic-algorithm

practical-robust-nonlinear-pd-controller-for-cdpms

Source codes for the paper "Practical Robust Nonlinear PD Controller for Cable-Driven Parallel Manipulators"

process-control

Process Control code, include optimization, Model Predictive Control (MPC), Moving Horizon, Kalman filter etc

pyat

Provide Python functions for reading and writing the files required for the Acoustics Toolbox programs (KRAKEN, BELLHOP, SCOOTER). Also defines objects that represent the basic elements of an acoustic simulation.

realtime-threadpool

A real-time threadpool implmented on C++11

realtimepathplanning

Sampling based rewiring approaches to solve motion planning problems for a robot with dynamic obstacles

reinforcement-learning-algorithms-and-dynamic-programming

Reinforcement learning Algorithms such as SARSA, Q learning, Actor-Critic Policy Gradient and Value Function Approximation were applied to stabilize an inverted pendulum system and achieve optimal control. So essentially, the concept of Reinforcement Learning Controllers has been established. The Reinforcement Learning Controllers have been compared on the basis of performance and efficiency and they are separately compared with the classical Linear Quadratic Regulator Controller. Each of the RL controller have been integrated with a Swing up controller. A virtual switch toggles between the Swing up controller and the RL controller automatically, based on the value of the angular deviation theta with respect to the vertical plane. My research paper and my undergraduate thesis have been uploaded for reference. All the codes have also been uploaded.

reiserrt_core

Frank Reiser's C++17 core components for multi-threaded real-time embedded systems.