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README.md

spirit

spirit is a library to control one or group of ground vehicle with a Model-based predictive controller

Dependencie

Examples

  • sim_car : application showing simple vehicle simulation on flat ground
  • bvp_example : simple boundary value solver example showing a local planning problem between two waypoints
  • car_robot : application to test internals of spirit
  • car_calib : application to calibrate vehicle parameters (requires arpg's parkour car robot to run)
  • gamepad_drive : application to drive parkour car with a gamepad (requires arpg's parkour car robot to run)
  • mpc_car : application using spirit's internal mpc controller (requires arpg's parkour car robot to run)

Developers

Publications

  • Sina Aghli and Christoffer Heckman, “Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles” IEEE International Conference On Robotics and Automation 2018
  • H Ravanbakhsh, S Aghli, C Heckman, S Sankaranarayanan, “Path-Following though Control Lyapunov Functions” International Conference on Intelligent Robots 2018

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Model-based Predictive Controller for Autonomous Cars

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