SMARTlab-Purdue

SMART Lab at Purdue University's repositories

Husformer

This repository contains the source code for our paper: "Husformer: A Multi-Modal Transformer for Multi-Modal Human State Recognition". For more details, please refer to our paper at https://arxiv.org/abs/2209.15182.

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ros-tutorial-gazebo-simulation

ROS tutorial by Purdue SMART lab: Gazebo simulation - autonomous mobile robot navigation and creating custom robots and sensor plugins

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SMART-LLM

Code repository for SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models

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PrefMMT

This repository contains the source code for our paper: "PrefMMT: Modeling Human Preferences in Preference-based Reinforcement Learning with Multimodal Transformers".

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robust-control-tutorial

Robust control tutorial by Purdue SMART Lab: Sliding Mode Control (SMC) with MATLAB/Simulink example implementation

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SMARTmBOT

The goal of this repository is to introduce a new, customizable, scalable, and fully opensource mobile robot platform, called SMARTmBOT. This repository provides a guide, and all design files and source codes so that you can build your own SMARTmBOT. SMARTmBOT can be useful for studying the basics of robotics, especially mobile robotics. It can also be used to study advanced topics such as swarm robotics.

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SAN-NaviSTAR

This repository contains the source code for our paper: "NaviSTAR: Socially Aware Robot Navigation with Hybrid Spatio-Temporal Graph Transformer and Preference Learning". For more details, please refer to our project website at https://sites.google.com/view/san-navistar.

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robotarium-rendezvous-RSSDOA

This repository contains the Matlab source codes (to use in Robotarium platform) of various rendezvous controllers for consensus control in a multi-agent / multi-robot system.

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ros-tutorial-voice

This tutorial briefly covers how to control a robot over voice command. The user can control the robot using voice command and the robot acknowledges back to the user through a text-to-speech system, after executing the control action. E.g. Once the user ask the robot to "forward". The robot executes it and then sends a message over voice to the user saying the the "Requested action executed".

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DynaCon

Code repository for DynaCon: Dynamic Robot Planner with Contextual Awareness via LLMs. This package is for ROS Noetic.

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ros2-foxy-wearable-biosensors

This repository is a new wearable biosensors package for ROS2-Foxy. The ultimate goal of this repo is to expand the biosensors ecosystem in the Human-Robot Interaction (HRI) field. The package currently supports six wearable biosensors that can be used in HRI researches without behavioral constraints caused by limited hardware specifications (e.g., wired devices). We will keep updating this GitHub to support various wearable sensors on ROS 2 system. If you are interested in this project, please contact us.

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ros-tutorial-robot-control-vision

ROS tutorial on iRobot Create2 robot control and CV based object detection by Purdue SMART lab

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Harmful-Algae-Removal-USV

Oceans 2019 - Development of an Unmanned Surface Vehicle for Harmful Algae Remova

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SAN-FAPL

This repository contains the source code for our paper: "Feedback-efficient Active Preference Learning for Socially Aware Robot Navigation", accepted to IROS-2022. For more details, please refer to our project website at https://sites.google.com/view/san-fapl.

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SeLRoS

Code repository for Semantic Layering in Room Segmentation via LLMs (SeLRoS). This repository includes 2D Map generation code and Room Information Interpreter code, and a data set containing ground truth, object information file, top view image, and room segmentation results for each environment for an experiment in 30 environments.

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Attack_Detection-Sim

This repository contains the Matlab source codes of attack detection algorithm for multi-agent / multi-robot systems. The ROS Gazebo simulation using CAT Vehicle Testbed was modified to demonstrate the attack detection scenario on CAT vehicles at urban environments.

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smart_mbot_ws

The goal of this repository is to share a ROS2 workspace for the SMARTmBOT. If you want to know more details about the SMARTmBOT, please visit our official GitHub page; https://github.com/SMARTlab-Purdue/SMARTmBOT

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multirobot-consensus-robotarium

This repository consists of Robotarium implementations of various multi-robot consensus algorithms from the literature.

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Sediment-Core-Sampler

The goal of this repository is to introduce a robotic underwater sediment sampling system based on the unmanned surface vehicle (USV) and underwater sediment sampler (USS) to collect bed sediment samples. This repository provides the detailed cost breakdown along with the source code and CAD files of the USS and the operational instructions.

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SMART-TeleLoad

This repo is a practical stimulus tool for teleoperated human-robot teams. The tool is comprised of a customizable graphical user interface and subjective questionnaires to measure affective loads. We validated that this tool can invoke different levels of affective loads through extensive user experiments.

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