Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Control strategies for rotary wing Micro Aerial Vehicles using ROS

An application to test controllers on mobile robots.

Trajectory Tracking Controller for ROS Package Using Nonlinear Model Predictive Control (MPC) with C/GMRES Method

Motion Control of Self-Driving Car for Trajectory Tracking

Python package designed for collecting and processing trajectory data.

It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear …

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

Code for our RSS'21 paper: "Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control"

ROS Trajectory Tracking Control package

Learning Certified Control Using Contraction Metric (CoRL 2020)

Point Projection On Parametric Curves / Trajectory Maps for Autonomous Driving

construction machine positioning with stereo visual SLAM at dynamic construction sites

Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.

A simple, easy-to-use, and effective path tracking planner.

LQR controller for quadrotors

Published in Nature Communications: Model-free tracking control of complex dynamical trajectories with machine learning.

Use Iterative Learning Control (ILC) for trajectory tracking task with the existence of model mismatch. Model Predictive Control (MPC) is also used for comparison.

Implementation of "Quadrotor Helicopter Trajectory Tracking Control"