tkkim-robot / visibility-rrt
The Visibility-Aware RRT* implementation for safety-critical navigation with perception-limited robots.
☆14Updated 3 months ago
Related projects ⓘ
Alternatives and complementary repositories for visibility-rrt
- Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.☆25Updated this week
- ☆25Updated 3 years ago
- Towards safe and optimal trajectory tracking control.☆16Updated last year
- ROS Package for the ReSwarm Distributed MPC methods, consisting of multiple implementations of distributed MPC schemes for formation cont…☆14Updated 5 months ago
- 2D Grid Environment with common utils (raytracing) and quadrotor dynamics. With Exponential Control Barrier Functions☆11Updated 4 years ago
- [IEEE ICRA'22] DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles (C++/R…☆13Updated 2 years ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆29Updated 3 years ago
- rl_collision_avoidance test in gazebo simulator☆12Updated 3 years ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆16Updated 3 years ago
- ☆11Updated last month
- Offroad autonomous navigation based on MPC and model-based RL using RC cars☆12Updated 6 months ago
- A Python based implementation for fast convex decomposition of obstacle-free spaces.☆21Updated 3 months ago
- Code of my CDC 2023 Paper: Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction☆20Updated last year
- Repository for "Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots" - RSS 2024☆13Updated 4 months ago
- Distributed Multi-robot trajectory Optimization Algorithm☆15Updated 2 years ago
- long-term dynamic window approach local planner for differential wheeled robots☆35Updated last year
- ☆15Updated last year
- This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance…☆19Updated 5 months ago
- This docker has Acados, Casadi, neural mpc and ROS Noetic for NVIDIA Jetson. It has been tested on a Jetson Nano and Jetson Orin NX☆11Updated last year
- ☆23Updated last month
- ☆15Updated 2 years ago
- Autonomous racing using ILQR and JAX.☆32Updated 4 months ago
- ☆34Updated 2 years ago
- ☆27Updated last year
- Model Predictive Control for Quadrotor using acados☆25Updated last year
- ROS package for autonomous navigation of AGVs in unknown cluttered environments using U-MPPI☆21Updated 8 months ago
- An MPC approach for motion planning of non-holonomic mobile systems in dynamic scenarios☆30Updated 4 months ago
- Training and testing scripts for the prediction model used in the "Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictio…☆14Updated 11 months ago
- Repository for multi-robot collision avoidance using the Velocity Obstacle.☆22Updated last year
- RSS 2021: Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments☆26Updated 2 years ago