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This repository presents the tools required to implement RTD, which is a method of trajectory planning for autonomous mobile robots that can guarantee safety (in static environments) and not-at-fault behavior (in dynamic environments). If you use the toolbox in research that will be published, please choose a citation appropriate to the field of publication from the following list:

S. Vaskov, S. Kousik, H. Larson, F. Bu, J. Ward, S. Worrall, M. Johnson-Roberson, and R. Vasudevan, “Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments,” Robotics Science and Systems, 2019. [preprint]

S. Kousik, S. Vaskov, F. Bu, M. Johnson-Roberson, and R. Vasudevan, “Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots.” [preprint, videos]

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This toolbox is capable of robustly selecting inter-map loop closures in multi-robot simultaneous localization and mapping (SLAM). If you use the toolbox in research that will be published, please cite the following publication:

J. Mangelson, Derrick Dominic, R. Eustice, and R. Vasudevan, "Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging," in IEEE Conference on Robotics and Automation, 2018.

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This toolbox uses an occupation measure formulation to solve hybrid system optimal control problems using semidefinite programming. If you use the toolbox in research that will be published, please choose a citation appropriate to the field of publication from the following list:

P. Zhao, S. Mohan, and R. Vasudevan, “Optimal Control for Nonlinear Hybrid Systems via Convex Relaxations." IEEE Transactions on Automatic Control. [preprint]

P.Zhao and R. Vasudevan, “Nonlinear Hybrid Optimal Control with Switching Costs via Occupation Measures and LMI-Relaxations,” American Conference on Control, 2019.

Hybrid Dynamical Simulation

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This toolbox is capable of simulating controlled hybrid systems. Examples include systems undergoing contact (e.g. robotic systems or humans interacting with the world), digital control systems, and more. If you use the toolbox in research that will be published, please choose a citation appropriate to the field of publication from the following list:

S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,” IEEE Transactions on Automatic Control, vol. 60, no. 9, September 2015. [preprint]

S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Numerical integration of hybrid dynamical systems via domain relaxation,” in IEEE Conference on Decision and Control and European Control Conference, pp. 3958-3965, 2011. [pdf]

 

This toolbox contains a numerical optimal control method for constrained nonlinear switched dynamical systems with input. If you use the toolbox in research that will be published, please choose a citation appropriate to the field of publication from the following list:

R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 1: A Conceptual Algorithm,” SIAM Journal on Control and Optimization, vol. 51, no. 6, pp. 4463-4483, 2013. [url]

R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 2: An Implementable Algorithm,” SIAM Journal on Control and Optimization, vol. 51, no. 6, pp. 4484-4503, 2013. [url]

 

Motion Capture  Dataset 

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This toolbox contains a numerical optimal control method for constrained nonlinear switched dynamical systems with input. If you use the toolbox in research that will be published, please cite the following paper:

E. Lobaton, R. Vasudevan, R. Alterovitz and R. Bajcsy, “Robust topological features for deformation invariant image matching,” in International Conference on Computer Vision, pp. 2516-2523, 2011. [pdf]

 

This is a motion capture dataset from a walking experiment conducted at the University of California Berkeley. Please click here for more information.