HybridRobotics/Quad-Load

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MATLAB
License
MIT License
Created almost 6 years ago
Updated over 2 years ago

HybridRobotics/Quad-Load

HybridRobotics

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Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.

CBF-CLF-Helper

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

GenLoco

NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

MPC-CBF

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

car-racing

A toolkit for testing control and planning algorithm for car racing.

cbf

An open source repository for control, planning and navigation about control barrier functions.

Lane-Change-CBF

Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382

quadruped_nmpc_dcbf_duality

prompt2walk

Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969

isaac_berkeley_humanoid

multiple-quadrotor-flexible-hose

Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control

CBF-Pointwise-Feasibility

"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

berkeley_humanoid_description

ilqr-iterative-tasks

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246

geometric-toolbox

Contains all the functions (such as hat map, rotations, transport map, etc.) used during the development of geometric mechanics and control of robotic systems.

PPQL

Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload (RA-L 2020)

dynamics_on_manifolds

Symbolic Computation of Dynamics on Smooth Manifolds

vo-polytope

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)

Quad-Load-Pulley

"Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley" by J. Zeng, P. Kotaru and K. Sreenath https://ieeexplore.ieee.org/document/8815173

ball-and-beam-project

EE222/ME237 Nonlinear Systems, Spring 2022, Starter code for the course project.

Quad-Load-Offset

"Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939

depth_cbf

Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control