Changyu Lee's repositories
Model-Predictive-Control
Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit
Quadrotor-NMPC-based-Obstacle-Avoidance
NMPC for Quadrotor - Dynamic, static obstacle avoidance & Landing on box
asv_wave_sim
This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
AutoKoopman
AutoKoopman - automated Koopman operator methods for data-driven dynamical systems analysis and control.
blog-code
Code and files related to random side projects
lee-ck.github.io
:triangular_ruler: Jekyll theme for building a personal site, blog, project documentation, or portfolio.
Data-Driven-Control-Koopman
Receding horizon control with data-drive approach using the Koopman operator theory
DeepKoopmanWithControl
Soure code for Deep Koopman with Control
deepSI
Dynamical System Identification using python incorporating numerous powerful deep learning methods. (deepSI = deep System Identification)
dlkoopman
A general-purpose Python package for Koopman theory using deep learning.
fastpathplanning
A fast algorithm for finding an optimal path in a collection of safe boxes
koopman_learning_and_control
Repository for Koopman based learning and nonlinear control
l4casadi
Use PyTorch Models with CasADi and Acados in Python, C(++) or Matlab
lee-ck
Config files for my GitHub profile.
libMultiRobotPlanning
Library with search algorithms for task and path planning for multi robot/agent systems
mbzirc
Simulator for the MBZIRC Maritime Grand Challenge
Multi-Purpose-MPC
Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance
neural_clbf
Toolkit for learning controllers based on robust control Lyapunov barrier functions
PyRoboCOP
PyRoboCOP is a lightweight Python-based package for control and optimization of robotic systems described by nonlinear Differential Algebraic Equations (DAEs)
pytorch_cem
Cross Entropy Method implemented in pytorch
pytorch_mppi
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
quadrotor
Quadrotor control, path planning and trajectory optimization
safe-connected-cruise-control
Matlab codes for analyzing the safety of connected cruise control, and synthesizing safe controllers with control barrier functions. They contain codes for numerical simulation, creating stability and safety charts, and plotting safe sets.
Tube-Robust-MPC-with-Uncertainty-Quantification
This is the MATLAB code for tube robust MPC with uncertainty quantification
uav_geometric_control
Geometric controllers developed at FDCL for UAVs
UMich-ROB-530-public
UMich 500-Level Mobile Robotics Course