MIT Aerospace Controls Laboratory

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52 repositories

ROMAN
Public
ROMAN is a view-invariant global localization method that maps open-set objects and uses the geometry, shape, and semantics of objects to find the transformation between a current pose and previously created object map. This enables loop closure between robots even when a scene is observed from opposite views.
Python
•12•161•1•1•Updated Jan 15, 2025Jan 15, 2025
mit-acl.github.io
Public
SCSS
•9•1•0•1•Updated Jan 13, 2025Jan 13, 2025
roman_ros
Public
ROS1/2 wrapper for ROMAN, a view-invariant global localization method
Python
•10•74•0•0•Updated Jan 11, 2025Jan 11, 2025
tcaff
Public
A multiple hypothesis algorithm for aligning coordinate frames of collaborative robots
Python
•0•9•1•0•Updated Jan 8, 2025Jan 8, 2025
clipper
Public
graph-theoretic framework for robust pairwise data association
robotics optimization loop-closure data-association point-cloud-registration maximum-clique sensor-calibration
C++
•
MIT License
•40•242•3•0•Updated Dec 13, 2024Dec 13, 2024
REVISE
Public
Python
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MIT License
•0•5•0•0•Updated Nov 21, 2024Nov 21, 2024
ROMAN-project
Public
JavaScript
•0•2•0•0•Updated Oct 28, 2024Oct 28, 2024
Batvik-seasonal-dataset-loader
Public
Båtvik seasonal dataset loader
Python
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MIT License
•0•2•0•0•Updated Oct 12, 2024Oct 12, 2024
bibliography
Public
TeX
•1•0•0•1•Updated Sep 30, 2024Sep 30, 2024
mppi_numba
Public
A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
python robotics gpu motion-planning numba mppi sampling-based-planning traversability
Jupyter Notebook
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MIT License
•19•204•0•0•Updated Aug 23, 2024Aug 23, 2024
murp-datasets
Public
Jupyter Notebook
•1•3•0•0•Updated Aug 13, 2024Aug 13, 2024
puma
Public
PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment
planner optimization path-planning ros puma image-segmentation obstacle-avoidance multiagent-planning perception-aware frame-alginment
C++
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BSD 3-Clause "New" or "Revised" License
•1•32•0•0•Updated Jul 19, 2024Jul 19, 2024
dpgo_ros
Public
ROS wrapper for distributed pose graph optimization
optimization pose-graph-optimization multi-robot-systems robotics ros slam
C++
•
MIT License
•12•61•0•0•Updated Jul 17, 2024Jul 17, 2024
16_06_Class
Public
16.06 Spring 2024
Jupyter Notebook
•0•0•0•0•Updated Jul 6, 2024Jul 6, 2024
dpgo
Public
Distributed Pose Graph Optimization
optimization pose-graph-optimization multi-robot-systems robotics slam
C++
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MIT License
•28•191•2•1•Updated Jun 17, 2024Jun 17, 2024
rmader
Public
Decentralized Multiagent Trajectory Planner Robust to Communication Delay
planner robotics hardware optimization path-planning ros multiagent-systems trajectory-optimization dynamic-environments obstacle-avoidance
C++
•
BSD 3-Clause "New" or "Revised" License
•11•88•5•3•Updated May 31, 2024May 31, 2024
multi_jackal
Public
ROS packages for simulating multiple Jackals in Gazebo
CMake
•12•2•0•0•Updated Apr 28, 2024Apr 28, 2024
faster
Public
3D Trajectory Planner in Unknown Environments
uav drone path-planning planning trajectory-optimization autonomous-navigation ground-robot
C++
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BSD 3-Clause "New" or "Revised" License
•184•996•15•0•Updated Apr 26, 2024Apr 26, 2024
motlee_ros
Public
ROS wrapper for MOTLEE
Python
•0•0•0•0•Updated Apr 24, 2024Apr 24, 2024
online_mhe_reachability
Public
Git repo for the paper "Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances"
0•0•0•0•Updated Mar 6, 2024Mar 6, 2024
deep_panther
Public
deep-learning planner drones trajectory-optimization imitation-learning obstacle-avoidance multi-modality motion-planning
C++
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BSD 3-Clause "New" or "Revised" License
•10•60•5•0•Updated Mar 5, 2024Mar 5, 2024
minvo
Public
Simplexes with Minimum Volume Enclosing Polynomial Curves
bezier convex-hull bspline bernstein polynomial-bases minimum-volume minvo
MATLAB
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BSD 3-Clause "New" or "Revised" License
•11•74•1•0•Updated Jan 19, 2024Jan 19, 2024
planning
Public
List of planning algorithms developed at MIT-ACL
4•36•0•0•Updated Jul 12, 2023Jul 12, 2023
fastsam_ros
Public
ROS wrapper for FastSAM, with docker
Python
•1•17•0•0•Updated Jun 30, 2023Jun 30, 2023
gym-collision-avoidance
Public
OpenEdge ABL
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MIT License
•75•262•1•1•Updated Apr 28, 2023Apr 28, 2023
panther_extra
Public
Python
•2•1•0•0•Updated Apr 16, 2023Apr 16, 2023
yolov7_ros
Public
ROS wrapper for YOLOv7, with docker
Python
•2•9•0•0•Updated Feb 23, 2023Feb 23, 2023
mader
Public
Trajectory Planner in Multi-Agent and Dynamic Environments
planner optimization path-planning ros multi-agent trajectory-optimization obstacle-avoidance minvo mader
C++
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BSD 3-Clause "New" or "Revised" License
•81•512•6•1•Updated Dec 7, 2022Dec 7, 2022
android_loomo_ros_core
Public
Android app to enable ROS on a Loomo robot
Java
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MIT License
•21•24•2•0•Updated Nov 21, 2022Nov 21, 2022
optitrack
Public
ROS drivers for OptiTrack Motive 2 motion capture system
ros motion-capture optitrack
C++
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MIT License
•13•2•0•0•Updated Nov 9, 2022Nov 9, 2022