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

Python package designed for collecting and processing trajectory data.

Motion Control of Self-Driving Car for Trajectory Tracking

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 …

ROS Trajectory Tracking Control package

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

Point Projection On Parametric Curves / Trajectory Maps for Autonomous Driving

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

Learning Certified Control Using Contraction Metric (CoRL 2020)

construction machine positioning with stereo visual SLAM at dynamic construction sites

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

LQR controller for quadrotors

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

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

Control steer and throttle of UGV to track the reference path based on model predictive controller

Implementation of "Quadrotor Helicopter Trajectory Tracking Control"