BinghengNUS / LearningAgileFlight_SE3
Learning Agile Flights on SE(3): a novel deep SE(3) motion planning and control method for quadrotors. It learns an MPC's adaptive SE(3) decision variables parameterized by a portable DNN, encouraging the quadrotor to fly through the gate with maximum safety margins under diverse settings.
☆37Updated 3 weeks ago
Related projects ⓘ
Alternatives and complementary repositories for LearningAgileFlight_SE3
- Code of my CDC 2023 Paper: Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction☆20Updated last year
- ☆26Updated last year
- ☆23Updated 5 months ago
- Auto-Multilift is a novel learning framework for cooperative load transportation with quadrotors. It can automatically tune various MPC h…☆17Updated 2 weeks ago
- A simple path planning framework for swarm robots☆13Updated this week
- Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to re…☆45Updated 3 weeks ago
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆38Updated 2 years ago
- A MATLAB implementation of geometric tracking control for a quadrotor UAV on SE(3)☆19Updated 3 years ago
- The implement for the Quadrotor trajectory tracking using MPC with CasADi library☆40Updated 2 years ago
- MPC implementation for quadrotors using acados☆30Updated 2 years ago
- Model Predictive Control for Quadrotor using acados☆28Updated last year
- L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors☆16Updated last year
- A lightweight learning-based trajectory optimization framework.☆61Updated last week
- Model Predictive Controller for a quadcopter model using online learning with recursive Gaussian process regression in ROS-Gazebo☆15Updated 7 months ago
- ☆60Updated 5 months ago
- Trajectory tracking controller using linear and nonlinear MPC.☆28Updated 2 years ago
- minimum-snap trajectory generation and attitude control for PX4-based rotary wing drones☆25Updated 3 years ago
- Model Predictive Controller for a quadcopter model using Acados nlp optimization☆16Updated 2 years ago
- This is a minimal repository containing the Matlab / Simulink to test a quadrotor subjected to single / double rotor failures, the increm…☆56Updated last year
- Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control☆38Updated last year
- Collision avoidance for mavs in dynamic environments using model predictive control☆84Updated 4 years ago
- Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads☆88Updated 4 months ago
- Designing MPC for bluerov2 model☆42Updated last week
- Time-Optimal Planning for Quadrotor Waypoint Flight☆89Updated 3 years ago
- Implementation of L1 adaptive control with ardupilot firmware.☆10Updated 9 months ago
- ☆30Updated 5 months ago
- Automatically generate an MPC controller using ACADO toolkit.☆18Updated 4 years ago
- ☆20Updated 2 years ago
- ☆48Updated last week
- This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance…☆20Updated 6 months ago