sriram-2502

KoopmanMPC_Quadrotor

Develop a Koopman operator based MPC for controlling a quadrotor

Deep_Koopman_AutoEncoder

DNN based Koopman autoencoder model

KoopmanMPC_AV

This repo is for developing a Koopman operator based MPC for autonomous vehicles.

Koopman_PathIntegral

This repo is used to document my progress in computing the principle eigenfunctions of the Koopman operator using path integrals

mpc_cdf

Discrete time safe MPC with CDF constraints

Optim_EnergyShaping

Optimization based control for quadruped locomotion using energy shaping

Robust_Optimization

This repo is part of the journal submission "Model Free Robust Optimization using Continuous Time Dynamics"

sriram-2502

Config files for my GitHub profile.

Hamilton-Jacobi-Koopman

A project for identifying Koopman eigenfunctions for Hamiltonian systems

koopman_learning_and_control

Repository for Koopman based learning and nonlinear control

Koopman_Robots

This Repo is part of my implementation for applying Koopman Operator Theory for Robotic Systems

Passivity_Based_Control

Develop passivity based control for vehicle dynamics and wheeled quadruped robots based on energy shaping

quad_density

Density function based motion planning for quadruped locomotion

Quad_Manipulator

This repo will document my progress towards developing a Simulink based controller for quadruped locomotion with a manipulator for MathWorks Excellence in Innovation

safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Safe_Robots

uncertainty_aware_navigation

This repo documents my motion planning project on uncertainty aware local navigation for multiagent systems