Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

Trajectory Planner in Multi-Agent and Dynamic Environments

Implementing Reinforcement Learning, namely Q-learning and Sarsa algorithms, for global path planning of mobile robot in unknown environment with obstacles. Comparison analysis of Q-learning and Sarsa

Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

Detection and Tracking of Moving Objects (DATMO) using sensor_msgs/Lidar.

Deep Reinforcement Learning for mobile robot navigation in IR-SIM simulation. Using DRL (SAC, TD3, PPO, DDPG) neural networks, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.

Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.

Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

Deep Reinforcement Learning for mobile robot navigation in ROS2 Gazebo simulator. Using DRL (SAC, TD3) neural networks, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

Perception-Aware Trajectory Planner in Dynamic Environments

A* Search Algorithm with an Additional Time Dimension to Deal with Dynamic Obstacles

Implementation of the D* lite algorithm in Python for "Improved Fast Replanning for Robot Navigation in Unknown Terrain"

A goal-driven autonomous exploration through deep reinforcement learning (ICRA 2022) system that combines reactive and planned robot navigation in unknown environments

A toolkit for testing control and planning algorithm for car racing.

ORCA(Optimal Reciprocal Collision Avoidance) in Unity.

[T-RO'24] Fast and Adaptive Perception and Planning for UAVs in Dynamic Cluttered Environments

Multi-agent motion planning packages (HDSM method)

Spherical Vector-based Particle Swarm Optimization