MIT Aerospace Controls Laboratory (@mit-acl)
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mit-acl

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Top repositories

1

faster

3D Trajectory Planner in Unknown Environments
C++
949
star
2

cadrl_ros

ROS package for dynamic obstacle avoidance for ground robots trained with deep RL
Python
572
star
3

mader

Trajectory Planner in Multi-Agent and Dynamic Environments
C++
479
star
4

gym-collision-avoidance

OpenEdge ABL
246
star
5

clipper

graph-theoretic framework for robust pairwise data association
C++
219
star
6

panther

Perception-Aware Trajectory Planner in Dynamic Environments
C++
187
star
7

dpgo

Distributed Pose Graph Optimization
C++
181
star
8

mppi_numba

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
Jupyter Notebook
179
star
9

rl_collision_avoidance

Training code for GA3C-CADRL algorithm (collision avoidance with deep RL)
Python
118
star
10

rmader

Decentralized Multiagent Trajectory Planner Robust to Communication Delay
C++
72
star
11

minvo

Simplexes with Minimum Volume Enclosing Polynomial Curves
MATLAB
71
star
12

aclswarm

MIT ACL distributed formation flying using multirotors
C++
67
star
13

nfl_veripy

Formal Verification of Neural Feedback Loops (NFLs)
Python
63
star
14

dpgo_ros

ROS wrapper for distributed pose graph optimization
C++
59
star
15

deep_panther

C++
51
star
16

clear

CLEAR algorithm for multi-view data association
MATLAB
35
star
17

planning

List of planning algorithms developed at MIT-ACL
34
star
18

puma

PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment
C++
27
star
19

fastsam_ros

ROS wrapper for FastSAM, with docker
Python
17
star
20

separator

Linear separability (via planes) of two sets of 3D points
C++
12
star
21

dc2g

Planning Beyond the Sensing Horizon Using a Learned Context
Python
10
star
22

gym-minigrid

Python
10
star
23

SOS-Match

JavaScript
10
star
24

yolov7_ros

ROS wrapper for YOLOv7, with docker
Python
9
star
25

dc2g_public

Deep Cost-to-Go Planning Algorithm (IROS '19)
9
star
26

iscp_path_planner

Iterative sequential convex programming path planner, from Steven and Mark's ICRA 2015 paper
Python
4
star
27

panther_extra

Python
1
star
28

murp-datasets

Jupyter Notebook
1
star
29

motlee

Multiple Object Tracking with Localization Error Elimination
Python
1
star
30

mit-acl.github.io

SCSS
1
star