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1. robust-motion-planning-on-lie-groups robust-motion-planning-on-lie-groups Public

   Trying to figure out how to do Control-Contraction-Metric design on Lie Groups. Gross polynomial optimization / nonlinear robust control. There's also a Convex MPC on Lie groups in here ;) ROB 690 …

   Python

2. faster-csvto faster-csvto Public

   Parallelized sampling based constrained nonlinear MPC algorithm in PyTorch and JAX (Constrained Stein Variational Trajectory Optimization by Thomas Power and Dmitry Berenson). Ported from an intern…

   Python 2

3. subspace-identification-mrac subspace-identification-mrac Public

   Adaptive controller that learns dynamics online using subspace methods and concurrently applies MRAC to stabilize the system. NAVARCH 583 Adaptive Control project with Jonathan Shell and Connor Sav…

   MATLAB

4. multi-agent-surveillance multi-agent-surveillance Public

   Formulating and solving a surveillance / coverage problem via LP / MILP using CVX. Fairly standard network flows formulation with MTZ constraints. MATH 561 was the forcing function here.

   Python

5. ballbot-optimal-control ballbot-optimal-control Public

   Forked from Minisolarclown/ROB498-Project

   LQR and NMPC on a ball bot in simulation. ROB 498/599 Applied Optimal Control final project with Connor Williams.

   MATLAB 2

6. mros-w24-solution mros-w24-solution Public

   A ROS1 style publisher-subscriber package in C++. Project 2 solution for the Winter 24 offering of Robotics 320. (A little half-baked)

   C++ 1