Matthew Kelly's repositories
ParticleSwarmOptimization
Matlab implementation of particle swarm optimization. Well documented with examples.
ME149_Spring2018
Optimal Control for Robotics -- Tufts University -- ME 149 -- Spring 2018
IntroMatlabDynamics
A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems
Continuous_Finite_LQR
Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator
Bouncing_Ball_Matlab
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
Lagrange_Mechanics_Derivations
Tutorial: derive equations of motion for mechanical systems using Lagrange equations
Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
matthewpeterkelly.github.io
A new place to host my personal website.
Acrobot_Derivation_Matlab
Derivation of the equations of motion and simulation for the acrobot, an under-actuated double pendulum robot.
Chebyshev_Polynomials
Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.
FluenceMapping
Trajectory optimization to match fluence profiles.
numerical-methods-in-python
This project contains a set of standard numerical methods that I have implemented in python. The source-code for this project is intended to be read as a tutorial.
RangerSimulation
Source code for my two most well-documented simulators for the Cornell Ranger walking robot.
TwoPhaseOptimalGait
Trajectory optimization, using GPOPS-II, for two-phase walking and running gaits, for a simple walking model
Dynamics_Function_Gradient
Computes gradient of f(x) = A(x) \ b(x) in Matlab.
MDP_Pendulum
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
Polynomial_Smoothing_Matlab
Implementation of polynomial smoothing for several basic functions
Toppling_Stick
Finite-State-Machine simulation of a toppling stick. Careful Analysis. Matlab.
myJavaPkgs
Java utility packages that I wrote, generally related to simulation.
poker-stats
Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.
DrivenDampedPendulum
Matlab code for playing with the driven-damped-pendulum fractal
PolynomialSplines
Derivation of a few different polynomial splines using the Matlab symbolic toolbox. Also includes interpolation and fitting routines.