Personal website for Matthew Peter Kelly.

Renders high-quality images of fractals.

Matlab code for playing with the driven-damped-pendulum fractal

Trajectory Optimization in Matlab, specialized for problems with higher-derivatives (eg. jerk or snap) and / or implicit dynamics.

Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.

A trajectory optimization library for Matlab

Finite-State-Machine simulation of a toppling stick. Careful Analysis. Matlab.

Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.

Trajectory optimization to match fluence profiles.

The course website for 'Optimal Control for Robotics', which I taught at Tufts University in Spring 2018

Implementation of polynomial smoothing for several basic functions

This project contains a set of standard numerical methods that I have implemented in python. The source-code for this project is intended to be read as a tutorial.

A few Matlab functions for creating and evaluating bezier curves.

Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.

Trajectory optimization, using GPOPS-II, for two-phase walking and running gaits, for a simple walking model

A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems

Source code for my two most well-documented simulators for the Cornell Ranger walking robot.

Matlab implementation of particle swarm optimization. Well documented with examples.

Derivation of a few different polynomial splines using the Matlab symbolic toolbox. Also includes interpolation and fitting routines.

Java utility packages that I wrote, generally related to simulation.

Tutorial: derive equations of motion for mechanical systems using Lagrange equations

Computes gradient of f(x) = A(x) \ b(x) in Matlab.

Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.