roahmlab/armour-dev

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License
GNU General Publi...
Created about 2 years ago
Updated 11 months ago

roahmlab/armour-dev

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Can’t Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty

sel_map

Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.

RADIUS

A Real-Time Reachability-based Motion Planning Algorithm for Risk-Aware Motion Planning in Uncertain Environments.

reachability-based_trajectory_safeguard

We use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Set offline and use it online to adjust any potentially unsafe decisions that cause a collision with an obstacle.

RDF

Code release for RDF (Reachability-based Trajectory Design with Neural Implicit Safety Constraints)

koopman-realizations

Codebase for generating linear/bilinear/nonlinear Koopman model realizations from data and constructing MPC controllers.

sparrows

SPARROWS: Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres

REFINE

zonopy

Zonotopes in Python

armour

Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability

RTD_quadrotor_DSCC_2019

RTD for quadrotors using zonotopes/intervals

terrain_friction_dataset

zonopy-robots

Robotics extensions for zonopy

rtd-code-matlab

rtd-code-python

multimodal_mapping

KinfuROS