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1. RAPTOR RAPTOR Public

   RAPTOR: RAPid and Robust Trajectory Optimization for Robots

   C++ 135 9

2. sel_map sel_map Public

   Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.

   C++ 130 12

3. reachability-based_trajectory_safeguard reachability-based_trajectory_safeguard Public

   We use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Set offline and use it online to adjust any potentially unsafe…

   MATLAB 33 11

4. RDF RDF Public

   Code release for RDF (Reachability-based Trajectory Design with Neural Implicit Safety Constraints)

   Python 32 3

5. RADIUS RADIUS Public

   A Real-Time Reachability-based Motion Planning Algorithm for Risk-Aware Motion Planning in Uncertain Environments.

   C++ 31 4

6. koopman-realizations koopman-realizations Public

   Codebase for generating linear/bilinear/nonlinear Koopman model realizations from data and constructing MPC controllers.

   MATLAB 24 4