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2020_continuoustaskbarriers

Continuous Reachability Task Transition using Control Barrier Functions

2d_grid_playground

2D Grid Environment with common utils (raytracing) and quadrotor dynamics. With Exponential Control Barrier Functions

2dquadsim

Matlab simulation of 2D quadrotor systems

3dof_vehicle_sim

Simulation and visualization code for a 3DOF underactuated underwater vehicle.

aclswarm

MIT ACL formation flying using multirotors

actionlib

Provides a standardized interface for interfacing with preemptable tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc.

aero_srr_13

Repository for storing the aero_srr ROS packages

aerostack

Repository for Aerostack, a software framework for autonomous multi-robot unmanned aerial systems

afismc

a new observer-based adaptive fuzzy integral sliding mode controller (AFISMC) is proposed based on the Lyapunov stability theorem. The plant under study is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. In addition, a norm-bounded time varying term is introduced to address the possible existence of un-modelled/nonlinear dynamics. Based on the classical sliding mode controller (SMC), the equivalent control effort is obtained to satisfy the sufficient requirement of SMC and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. The sliding surface is compensated based on the observed states in the form of linear matrix inequality (LMI). In order to relax the norm-bounded constrains on the control law and solve the chattering problem of SMC, a fuzzy logic (FL) inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, by aiming at evaluating the validity of the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

agent-simulations

Repo for a simulator for multi-agent systems, partly in Python, Java, and MATLAB.

agra

Algebraic Geometry for Regions of Attraction

area-coverage

Simulation for planar area coverage by a swarm of ground robots

arl_roa

quadrotors avoiding eachother!

arl_rvo2_3d

attack-resiliency-in-truck-platooning-using-two-team-games

Using two team game theory, we can make the truck platoons resilient against any malicious attack.

auv-modeling-and-sim

This submission contains the files used in this video on modeling, simulation and control of an Autonomous Underwater vehicle - https://www.mathworks.com/videos/modeling-and-simulation-of-an-autonomous-underwater-vehicle-1586937688878.html. This submission models a 6-DoF autonomous underwater vehicle (AUV) and a position and velocity controller for the AUV. You can switch between low and high fidelity sensor and environment models based on your application needs.

awesome-latex-drawing

Drawing Bayesian networks, graphical models and framework with LaTeX.

barc

Main branch for BARC related code

barrier_motionplanning

Control barrier function based motion planning

beat-detector

MATLAB simulation for determining beat periods / bpm for each moment in music

beat-track

beattrack

behaviac

behaviac is a framework of the game AI development, and it also can be used as a rapid game prototype design tool. behaviac supports the behavior tree, finite state machine and hierarchical task network(BT, FSM, HTN)

behavior-tree

Behavior Tree Library in C++.

behaviour-optimization-for-swarm-navigation-in-cluttered-environment

Optimized settling time in formation control of UAVs swarm navigation in the presence of obstacles

behaviourtreeecj

Behaviour Tree module implementation created to be used with ECJ to evolve AI-bots for games

biosim

Creates bat-like flocking behavior exiting cave

book-mathmatical-foundation-of-reinforcement-learning

This is the homepage of a new book entitled "Mathmatical Foundations of Reinforcement Learning."

bt-builder

cbf_quadrotor

Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers. Work in progress.