murpheylab Goto Github PK

android_app

This app includes two games that run Sequential Action Control in the background.

biped_walking

Application of hybrid iterative Sequential Action Control (iSAC), a receding horizon method for control of nonlinear systems, to biped walking.

brne

Social navigation with Mixed Strategy Nash Equilibrium

cpl-slam

Planar Graph-Based SLAM Using the Complex Number Representation

distnav

Official repository for the paper "Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation"

distnav-eth-evaluation

Evaluating the DistNav crowd navigation algorithm on the ETH pedestrian dataset.

dpgo

Official Implementation of "Majorization Minimization Methods for Distributed Pose Graph Optimization"

dynamictasks

ergodic-control-sandbox

Sandbox code for "Tutorial on Ergodic Control @ ICRA 2024"

ergodic_isac_exploration

C++ code implementing ergodic iSAC: an ergodic control algorithm that uses complex agent dynamics to explore a varying probability-of-detection distribution in real time.

ergodic_isac_localization

C++ code implementing ergodic iSAC for target localization: an ergodic control algorithm that uses complex agent dynamics to track and localize random number of targets by exploring an expected information density in real time.

fls

FLS point cloud registration library.

hybridlearning

isac_quadrotor

Application of iSAC to a quadrotor tracking a 3D figure eight trajectory

kalman

Some Python Implementations of the Kalman Filter

maxdiffrl

me455_public

memoryefficientstablelds

Codebase associated with paper "Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control"

murpheylab.github.io

Interactive and Emergent Autonomy Lab Website

nact3d

rover_decentralized_ergodic_control

contains code for running decentralized ergodic coverage with a swarm of agents and code for sending target distributions to the swarm through a touchscreen interface

safetyconstrainedsharedcontrol

Safety constrained shared control of ball-in-bowl

sawyer_mechfilter

This is a ROS package containing nodes for running hybrid shared control on Sawyer.

scope

Reviatalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation

smarticles_sr19

smarticlesnu

smarticlesrattling2020

smarticletracking

Python modules for tracking smarticles with April Tags

sphero_ros

A Sphero ROS driver.

stablekoopmanoperators