mit-acl/iscp_path_planner

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Language
Python
Created almost 5 years ago
Updated almost 5 years ago

mit-acl/iscp_path_planner

mit-acl

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

faster

3D Trajectory Planner in Unknown Environments

cadrl_ros

ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

mader

Trajectory Planner in Multi-Agent and Dynamic Environments

gym-collision-avoidance

clipper

graph-theoretic framework for robust pairwise data association

panther

Perception-Aware Trajectory Planner in Dynamic Environments

dpgo

Distributed Pose Graph Optimization

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

rl_collision_avoidance

Training code for GA3C-CADRL algorithm (collision avoidance with deep RL)

rmader

Decentralized Multiagent Trajectory Planner Robust to Communication Delay

minvo

Simplexes with Minimum Volume Enclosing Polynomial Curves

aclswarm

MIT ACL distributed formation flying using multirotors

nfl_veripy

Formal Verification of Neural Feedback Loops (NFLs)

dpgo_ros

ROS wrapper for distributed pose graph optimization

deep_panther

clear

CLEAR algorithm for multi-view data association

planning

List of planning algorithms developed at MIT-ACL

puma

PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment

fastsam_ros

ROS wrapper for FastSAM, with docker

separator

Linear separability (via planes) of two sets of 3D points

dc2g

Planning Beyond the Sensing Horizon Using a Learned Context

gym-minigrid

SOS-Match

yolov7_ros

ROS wrapper for YOLOv7, with docker

dc2g_public

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

panther_extra

murp-datasets

Jupyter Notebook

motlee

Multiple Object Tracking with Localization Error Elimination

mit-acl.github.io