j1lee17's starred repositories
python_simple_mppi
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
CMU-GPR-Dataset
Dataset and utilities for research on localizing ground penetrating radar (GPR).
CUDA-Accelerated-Visual-Inertial-Odometry-Fusion
Harness the power of GPU acceleration for fusing visual odometry and IMU data with an advanced Unscented Kalman Filter (UKF) implementation. Developed in C++ and utilizing CUDA, cuBLAS, and cuSOLVER, this system offers unparalleled real-time performance in state and covariance estimation for robotics and autonomous system applications.
jetson-containers
Machine Learning Containers for NVIDIA Jetson and JetPack-L4T
TJ4DRadSet
TJ4DRadSet: A 4D Radar Dataset for Autonomous Driving
fuzzy-logic-project
HUST - IT4844 project- Self Driving Car
fuzzy-controller
a fuzzy distance controller for a following vehicle in a bidirectional movement space. This is a simple test to demonstrate the mechanics of such a controller. The driving behaviour and the current distance are taken into account. Further components can be easily added. The output variable is the adjustment of the speed.
RobotOS.jl
Julia interface to ROS (Robot Operating System)
ModelPredictiveControl.jl
An open source model predictive control package for Julia.
Dierckx.jl
Julia package for 1-d and 2-d splines
learning_lattice_planner
Learns a lattice planner from a dataset.
Behavior-Planning-by-Finite-State-Machine
In this section I am going to teach an approach to behavior planning that uses something called a Finite State Machine to solve the behavior planning problem.
lattice_planner
The lattice_planner package provides a move_base global planner plugin for a time-bounded A* lattice planner. The planner is designed to plan time dependent, dynamically feasible navigation paths for robots with differential drive constraints. It uses a dynamic cost map which is based on the ROS costmap representation from the costmap_2d package.
Lane-Keeping-Assist-on-CARLA
Implementing Lane Keeping Assist (LKA) on CARLA simulator
MPC-and-MHE-implementation-in-MATLAB-using-Casadi
This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is based on the Casadi Package which is used for numerical optimization. A non-holonomic mobile robot is used as a system for the implementation. The workshop video recording can be found here https://www.youtube.com/playlist?list=PLK8squHT_Uzej3UCUHjtOtm5X7pMFSgAL ... Casadi can be downloaded here https://web.casadi.org/
outlier-robust-radar-odometry
ORORA: Outlier-robust radar odometry, which is accepted in ICRA'23
Self-Driving-Vehicle-Control-on-CARLA
Lane Keeping Assist function by applying Stanley method for lateral control and PID controller for longitudinal control using Python on the Carla simulator. 🚗
Self-Driving-Cars
Coursera Open Courses from University of Toronto
Kalman-and-Bayesian-Filters-in-Python
Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filters, and more. All exercises include solutions.
ros2-ORB_SLAM2
ROS2 node wrapping the ORB_SLAM2 library
lidar_obstacle_detector
3D LiDAR Object Detection & Tracking using Euclidean Clustering, RANSAC, & Hungarian Algorithm