Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

Quadcopter path planning using RRT* and minimum jerk trajectory generation

High-Level Motion Library for Collaborative Robots

[SIGGRAPH 2024 & TOG]

[RA-L 2022] FISS: A Trajectory Planning Framework using Fast Iterative Search and Sampling Strategy for Autonomous Driving

Gradient-Informed Path Smoothing for Wheeled Mobile Robots (GRIPS)

Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning"

Generalized Splines for Motion Optimization in C++ and python3

Implementation of the Frenet Optimal Planning Algorithm (with modifications) in ROS.

Quadruped control architecture

MoveTK is a library for computational movement analysis written in C++.

Discrete Time C++ Modeling Library

Polynomial trajectory generation and optimization, part of the "mrs_uav_core".

Point Projection On Parametric Curves / Trajectory Maps for Autonomous Driving

Nonlinear instruments as VCV Rack plugins

Trajectory utilities for MAVs

Path planning project of Self-Driving Car Nanodegree

Udacity Self-Driving Car Nanodegree - Path Planning Project