Run all your ugly ROS1 nodes inside a completely isolated development environment. With a nice text editor support for development

Rule-Based Lloyd (RBL) Multi-robot motion planning and control

Pytorch re-implementation of the paper "Multi-agent path integral control for interaction-aware motion planning in urban canals" by Lucas Streichenberg, Elia Trevisan, Jen Jen Chung, Roland Siegwar…

Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

2024 IEEE RAS Summer School on Multi-Robot Systems

Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning"

PyTorch examples for the IEEE Robotics and Automation Letters paper titled "Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers"

This is a Dockerfile to use ROS2 on KDE Plasma Desktop container with NVIDIA GPU.

ROS-based fundamental modules for versatile automated vessel control

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

Compact vessel simulator on a single ROS node

URDF environments for gym

Multi-robot local motion planning using dynamic optimization fabrics.

Training and testing scripts for the prediction model used in the "Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions" paper.

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated

Repo for translating joystick inputs to roboat force commands