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_data_handle_mmp

Contains "Dataset" and "DataHandler" for motion prediction tasks

amrfleettransport_mlnmpc_zmr

This repo is meant to be the conclusive one for my doctoral study. The idea is to make a moduler and try-my-best independent program based on Python and ROS2 so that any one later in the field can understand and reuse this code for their own research. Cheers~

dynamic-obstacle-avoidance-swta-mpc

This repository contains the code to execute the simulated system for predictive dynamic obstacle avoidance based on multimodal motion prediction and model predictive control.

dyobav_mpcnwta_warehouse

Dynamic obstacle avoidance for mobile robots by combining deep learning motion prediction and MPC trajectory generation.

m3p_mdn_case2021

The evaluation code for the related paper published on IEEE CASE2021.

m3p_mdn_pytorch

Use MDNs to do multimodal motion prediction on synthetic dataset.

m3p_swta_pytorch

Use WTA loss with Clustering and Gaussian Fitting (WTA+CGF) to do multimodal motion prediction.

pylaser2d

A small laser scanner / lidar simulator in Python.

trajgenavo_nmpc_open

Use NMPC and reference generated by A-star to plan trajectories.

trajgenavo_nmpc_open_v2

trajplanfleet_schempc_schefleetmpc

trajtrack_mpcndqn_rlboost

Use DQN to boost MPC computation for dynamic obstacle avoidance.

xxdatagenerator_stanforddronedataset

This is used to generate datasets from raw videos of the Stanford Drone Dataset (SDD).

xxmotionsimulation_collection