Implicit Game-Theoretic MPC

Interpolating natural cubic splines. Includes batching, GPU support, support for missing values, evaluating derivatives of the spline, and backpropagation.

A Control Barrier Function Candidate for Limited Field of View Sensors

The official codebase of manuscript “ProxFly: Robust Control for Close Proximity Quadcopter Flight via Residual Reinforcement Learning"

Project Code for the paper "A Learning-based Quadcopter Controller with Extreme Adaptation"

This letter proposes a novel multi-robot task allocation and path planning method with maximum endurance constraints in large-scale scenarios.

Kinodyanmic Parallel Accelerated eXpansion

Fixing "font not embedded" issue to pass the IEEE PDF eXpress check

[RA-L2024/ICRA2025] Official implementation for paper "Diverse Controllable Diffusion Policy with Signal Temporal Logic."

A solver for nonlinear programming

A C interface for MadNLP

Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach

Toolbox for Robotics Control

Package for SuperMegaBot simulator

Repository for docker files

Tractable Reinforcement Learning for Signal Temporal Logic Tasks with Counterfactual Experience Replays

This repository combines visual srvoing projected to a null space operator and Nonlinear Model Predictive Control (NMPC). The controller is used for autonomous navigation over photovoltaic arrays.

Example of PX4 offboard control over microdds using python ROS 2

A Crazyflie simulator for testing CFLib Python code, ROS 2 nodes through Crazyswarm2, custom crazyflie-firmware modules, or perform a flight demo on the crazyflie-python-client.

A performance-enhanced Quadrotor motion planner

Seminar task used during the MRS Summer school 2020. The goal is to develop a controller for a follower drone in order to keep up with an evading leader drone.

This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images"

An implementation of the FBstab quadratic programming solver.