Gibson Environments: Real-World Perception for Embodied Agents

Policy Search for Model Predictive Control with Application to Agile Drone Flight

Webots ROS 2 packages

Control strategies for rotary wing Micro Aerial Vehicles using ROS

ROS2 package that implements a nonlinear model predictive control (NMPC) pipeline for trajectory tracking for aerial vehicles that use the PX4 Autopilot

Repository associated with paper titled "AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments", presented at IEEE ICRA 2023.

Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn

TinyMPC-integrated firmware for the Crazyflie Nano Quadcopter

My solution to Airsim Competition at NeuRIPS

Research quadrotor platform (software & hardware) developed at Stanford Multi-Robot Systems Lab

Make Crazyflie2.1 fly with phoenix-drone-simulation and the Crazyflie API.

Push demo using the Crazyflie STEM bundle (Crazyflie + flow deck + multiranger deck)

University Project to learn robotics fundamentals using ROS2 and a TurtleBot4.