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asaniart's Projects

acado icon acado

ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization.

c-plus-plus icon c-plus-plus

Collection of various algorithms in mathematics, machine learning, computer science and physics implemented in C++ for educational purposes.

ethzasl_msf icon ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

iiwa_ros icon iiwa_ros

ROS Meta-package for controlling KUKA IIWA

image_pose_estimation icon image_pose_estimation

The Ros package to track and get position in world of the selected object. Written on Python Opencv with SIFT + Homography + PnP + blue detector.

kuka-lwr icon kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.

libiiwa icon libiiwa

Scalable cross-platform multi-control framework for KUKA LBR iiwa cobots (Python - ROS - ROS2)

model-predictive-control icon model-predictive-control

Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit

mpc-cbf icon mpc-cbf

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

mpc_acc_2020 icon mpc_acc_2020

Repository containing all the files used for the simulation results of the paper 'Model Predictive Tracking Controller for Quadcopters with Setpoint Convergence Guarantees' by Alex Andriën , Demy Kremers, Dave Kooijman and Duarte Antunes

mpc_ros icon mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

natnet_ros_cpp icon natnet_ros_cpp

ROS driver for the NatNet 4.0 protocol used for the OptiTrack motion capture system and Motive application

path_planning icon path_planning

This repository contains path planning algorithms in C++ for a grid based search.

pnmpc_codegen icon pnmpc_codegen

pNMPC: A Code Generation Tool For Implementation of pNMPC Controller For Embedded Control Systems

robot icon robot

robot control and visualisation program for a simple off-shelf 4DoF arm manipulator.

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