PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Collection of Reinforcement Learning / Meta Reinforcement Learning Environments.

Autonomous UAV Navigation without Collision using Visual Information in Airsim

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.

EVDodgeNet: Deep Dynamic Obstacle Dodging with event cameras

This project contains informed RRT* path planning, minimum-snap trajectory generation, nonlinear geometric controller for aggressive trajectory tracking and hover, and a quadrotor simulator

A fully-annotated, open-design dataset of autonomous and piloted high-speed flight

High accuracy multi-agent UWB localization for a system of UAVs and UGVs collaborating for accurate positioning in a GPS-denied environment.

Model Predictive Control for a quadrotor in static and dynamic environments

Reinforcement Learning for quadrotor trajectory planning and control

A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)

Master Thesis

Multi-rotor Gym

The implement for the Quadrotor trajectory tracking using MPC with CasADi library

Working directory for dynamics learning for experimental robots.

PyDiffGame is a Python implementation of a Nash Equilibrium solution to Differential Games, based on a reduction of Game Hamilton-Bellman-Jacobi (GHJB) equations to Game Algebraic and Differential Riccati equations, associated with Multi-Objective Dynamical Control Systems

MSCKF (Multi-State Constraint Kalman Filter) implementation in Python

Simulation environments for the CrazyFlie quadrotor: Used for Reinforcement Learning and Sim-to-Real Transfer