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autograd

Efficiently computes derivatives of numpy code.

barrett_hand

ROS package to control the Barrett Hand

beliefspace

beliefspaceplanning

Implementation of important belief space planning research papers to progress in my research at Biorobotics Lab, CMU

book

:books: All programming languages books

bsp-ilqg

Belief Space Motion Planning Using iLQG

cadrl_ros

ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

cgp_slam

The code for paper Mobile Robot Navigation based on Canonical Gaussian Parameterization

ekf-slam-matlab

A Simultaneous Localisation and Mapping simulation in MATLAB

enpm661-planning-for-autonomous-robots

Planning is a fundamental capability needed to realize autonomous robots. Planning in the context of autonomous robots is carried out at multiple different levels. At the top level, task planning is performed to identify and sequence the tasks needed to meet mission requirements. At the next level, planning is performed to determine a sequence of motion goals that satisfy individual task goals and constraints. Finally, at the lowest level, trajectory planning is performed to determine actuator actions to realize the motion goals. Different algorithms are used to achieve planning at different levels. This graduate course will introduce planning techniques for realizing autonomous robots. In addition to covering traditional motion planning techniques, this course will emphasize the role of physics in the planning process. This course will also discuss how the planning component is integrated with control component. Mobile robots will be used as examples to illustrate the concepts during this course. However, techniques introduced in the course will be equally applicable to robot manipulators.

fastrack

A ROS implementation of Fast and Safe Tracking (FaSTrack).

freefloating_gazebo

A Gazebo plugin to simulate underwater vehicles and visualize with UWsim.

gazebo_aerial_manipulation_plugin

Provides interface to command a quadrotor using rpyt commands and if joints are provided, will attach servos to them to control the manipulator using joint angles

gym_ped_sim

A ros gazebo plugin for pedestrians （Raw depth social compliant navigation through GAIL) ICRA 2018

harmonioussampling

Harmonious Sampling for Mobile Manipulation Planning, IROS 2019.

huanyubit.github.io

Huanyu personal blogs

ifopt

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

latex-template

LaTeX template for BIT thesis

learnedsamplingdistributions

matlab-graph-optimization

Matlab: Optimization for Nonlinear Least Squares

matlabrobotics

MATLAB sample codes for mobile robot navigation

mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

mobile-deeplearning-in-tensorflow-lite

The demo about Mobile DeepLearning in TensorFlow Lite

mpnet

Motion Planning Networks

nndl.github.io

《神经网络与深度学习》 邱锡鹏著 Neural Network and Deep Learning

path_planning

The various path planning algorithm

phd-bibliography

References on Optimal Control, Reinforcement Learning and Motion Planning

planarmanipulationtoolbox

A simulation, planning and control toolbox for planar manipulation (e.g., pushing and grasping).

published_papers_huanyu