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Trajectory Generation
Computationally low-cost interception trajectories for quadrocopters
Perception-Aware Trajectory Planner in Dynamic Environments
An Efficient Multi-Robot Trajectory Planner for Ground Vehicles.
An implementation of a basic adaptive pure pursuit algorithm in Java using the Processing library.
This repository contains the solutions to all the exercises for the MOOC about SLAM and PATH-PLANNING algorithms given by professor Claus Brenner at Leibniz University. This repository also contain…
MAV planning tools using voxblox as the map representation.
An implementation of real-time optimal trajectory generation bases on the minimum snap trajectory.
Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018
Ewok: Real-Time Trajectory Replanning for MAVs using Uniform B-splines and 3D Circular Buffer
A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
A NLP solver for generating perception-aware powerline perching trajectories for multirotors
A python library for control from Signal Temporal Logic (STL) specifications
Sequential Convex Programming Toolbox for nonconvex trajectory optimization.
Udacity Self-Driving Car Engineer Nanodegree: Quintic Polynomial Solver. & Paper 'Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame'
Path planning for multiple tethered robots: paper accepted in RSS 2023
Decentralized Multiagent Trajectory Planner Robust to Communication Delay
Library with search algorithms for task and path planning for multi robot/agent systems
Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.
PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
Common used path planning algorithms with animations.
Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.
Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.
Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.
C++ implementation of RRT, RRT*, and Informed-RRT* using kd-tree for searching NN and NBHD nodes. Supports arbitrary dimensions and compiles as a shared library.