Roahm Lab

sel_map

Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.

reachability-based_trajectory_safeguard

We use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Set offline and use it online to adjust any potentially unsafe decisions that cause a collision with an obstacle.

RDF

Code release for RDF (Reachability-based Trajectory Design with Neural Implicit Safety Constraints)

RADIUS

A Real-Time Reachability-based Motion Planning Algorithm for Risk-Aware Motion Planning in Uncertain Environments.

arm_planning

koopman-realizations

Codebase for generating linear/bilinear/nonlinear Koopman model realizations from data and constructing MPC controllers.

REFINE

armour

Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability

zonopy

Zonotopes in Python

RTD_quadrotor_DSCC_2019

RTD for quadrotors using zonotopes/intervals

terrain_friction_dataset

rtd-code-matlab

zonopy-robots

Robotics extensions for zonopy

waitr-dev

KinfuROS

multimodal_mapping

rtd-code-python

LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

swing_hip_trip_prediction

curobo

CUDA Accelerated Robot Library (For SPARROWS Comparison)

HPDSReachSets