Geometric Controller of a Quadrotor on SE(3)

Screw Theory Toolbox for Robotics - “ST24R" - v3.10

[ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914

Some functions to work with Lie groups SO(3) and SE(3). State Estimation for Robotics

In this repo you can find implementation for Cubic and Quadratic B-splines trajectory generation given poses in R(3) along with B-spline trajectory T(t) generation, of any degree (n) given increments of poses in R(3) and also SO(3) and SE(3) Lie groups.

[T-RO] MATLAB implementation of PRobabilistically-Informed Motion Primitives (PRIMP), a learning-from-demonstration method on Lie group.

SE3 Lie algebra and distribution over SE3 in Matlab as functions

Batch estimation on Lie groups

VariationalOpt: A Matlab toolbox for optimization and sampling on curved spaces