MatthewPeterKelly/matthewpeterkelly.github.io

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MatthewPeterKelly/matthewpeterkelly.github.io

MatthewPeterKelly

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A new place to host my personal website.

OptimTraj

A trajectory optimization library for Matlab

dscTutorials

A few simple tutorials for dynamical systems and control. Most require Matlab.

ParticleSwarmOptimization

Matlab implementation of particle swarm optimization. Well documented with examples.

ME149_Spring2018

Optimal Control for Robotics -- Tufts University -- ME 149 -- Spring 2018

IntroMatlabDynamics

A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems

RungeKuttaCpp

A collection of explicit runge-kutta integrators, written in C++

Continuous_Finite_LQR

Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator

Kinematic_Constrained_Trajectory

Tractor_Trailer_Control

Simulation of a tractor-trailer truck driving backwards along a curving road. Control via time-varying linear quadratic regulator, estimation via extended Kalman filter

Bouncing_Ball_Matlab

Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.

DirCol5i

Trajectory Optimization in Matlab, specialized for problems with higher-derivatives (eg. jerk or snap) and / or implicit dynamics.

Lagrange_Mechanics_Derivations

Tutorial: derive equations of motion for mechanical systems using Lagrange equations

icra2015_kellyRuina

Non-linear robust control for inverted-pendulum 2D walking

Bezier_Curves

A few Matlab functions for creating and evaluating bezier curves.

website

A repository for development of my personal website.

Matlab_Animation_Tutorial

An tutorial the goes over real-time animation in Matlab, as well as saving video files. Some advanced topics are covered as well.

numerical-methods-in-python

This project contains a set of standard numerical methods that I have implemented in python. The source-code for this project is intended to be read as a tutorial.

RangerSimulation

Source code for my two most well-documented simulators for the Cornell Ranger walking robot.

TwoPhaseOptimalGait

Trajectory optimization, using GPOPS-II, for two-phase walking and running gaits, for a simple walking model

Dynamics_Function_Gradient

Computes gradient of f(x) = A(x) \ b(x) in Matlab.

Polynomial_Smoothing_Matlab

Implementation of polynomial smoothing for several basic functions

Acrobot_Derivation_Matlab

Derivation of the equations of motion and simulation for the acrobot, an under-actuated double pendulum robot.

Toppling_Stick

Finite-State-Machine simulation of a toppling stick. Careful Analysis. Matlab.

FluenceMapping

Trajectory optimization to match fluence profiles.

Chebyshev_Polynomials

Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.

MDP_Pendulum

Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.

Exponential_Smoothing_Matlab

Exponential smoothing for simple functions: max(), clamp(), abs(), ramp()...

Bulirsch-Stoer

Matlab implementation of the Bulirsch-Stoer method for solving initial value problems.

myJavaPkgs

Java utility packages that I wrote, generally related to simulation.

poker-stats

Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.

RombergQuadrature