In this paper we describe an algorithm for planning for multiple robots with multiple goal points. We use the D* Algorithm as a backbone to create a priority based planner, further we define four s…

Environmental setup for rovers using PX4, ros2 humble, and Vicon MoCap

Documentation and setup of rx200 arm with Isaac Sim for sim2real

Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajector…

Topics include function approximation, learning dynamics, using learned dynamics in control and planning, handling uncertainty in learned models, learning from demonstration, and model-based and mo…

Repository for assignments of the course DD2415 Safe Robot Planning and Control.

Sequential motion planning algorithm for problems defined as a sequence of manifolds.

A Binary Diffusion Model with Visualizations

BEVFormer with Barrier Functions

Course project for AEROSP 740: MPC at the University of Michigan. Studies the problem of redundant robot end-effector goal reaching with MPC.

Inverse Kinematics-based Model Predictive Control for Robot Motion Planning

Testing interface for epsilon greedy, epoch greedy and thomspon sampling