Discover roahmlab/sparrows Open Source project

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Python
Created 10 months ago
Updated about 2 months ago

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

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.

C++

109

RADIUS

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

C++

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.

MATLAB

RDF

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

Python

koopman-realizations

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

MATLAB

armour-dev

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

REFINE

zonopy

armour

Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability

MATLAB

RTD_quadrotor_DSCC_2019

RTD for quadrotors using zonotopes/intervals

MATLAB

terrain_friction_dataset

Python

zonopy-robots

Robotics extensions for zonopy

rtd-code-matlab

rtd-code-python

multimodal_mapping

KinfuROS

roahmlab/sparrows

roahmlab

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