PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.

A fully-annotated, open-design dataset of autonomous and piloted high-speed flight

iterative Linear Quadratic Regulator with constraints.

This repository contains the code to interface an ArduPilot based Quadrotor with ROS Noetic using the MAVROS package. I have implemented Teleoperation and autonomous traversal in a Cicular trajectory using position feedback from OptiTrack motion capture system.

PX4-firmware based drone control ROS node written in python

PyDiffGame is a Python implementation of a Nash Equilibrium solution to Differential Games, based on a reduction of Game Hamilton-Bellman-Jacobi (GHJB) equations to Game Algebraic and Differential Riccati equations, associated with Multi-Objective Dynamical Control Systems

Simulation environments for the CrazyFlie quadrotor: Used for Reinforcement Learning and Sim-to-Real Transfer

Python implementation of Bug2 algorithm to navigate a quadcopter/multirotor in the AirSim simulator.

Trajectory Planning and control

Autonomous Quadrotor 3D environment, based on python.

Code for FLEX, a fast, adaptive and flexible model-based reinforcement learning exploration algorithm.

Reinforcement Learning for quadrotor trajectory planning and control

Multi-rotor Gym

Model Predictive Control of a quadrotor for trajectory tracking.

Master Thesis

A Python API developed to control a PX4-enabled drone with MAVROS commands.

MSCKF (Multi-State Constraint Kalman Filter) implementation in Python