Repositories list

• 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.

  Jupyter Notebook

  •4•63•0•0•Updated Dec 17, 2024Dec 17, 2024

• clipper

  Public
  graph-theoretic framework for robust pairwise data association

  roboticsoptimizationloop-closure+ 4data-associationpoint-cloud-registrationmaximum-cliquesensor-calibration

  C++

  •

  MIT License

  •41•235•3•0•Updated Dec 13, 2024Dec 13, 2024

• roman_ros

  Public
  ROS1/2 wrapper for ROMAN, a view-invariant global localization method

  Python

  •2•15•0•0•Updated Dec 13, 2024Dec 13, 2024

• tcaff

  Public
  A multiple hypothesis algorithm for aligning coordinate frames of collaborative robots

  Python

  •0•9•1•0•Updated Dec 12, 2024Dec 12, 2024

• REVISE

  Public
  Python

  •

  MIT License

  •0•5•0•0•Updated Nov 21, 2024Nov 21, 2024

• mit-acl.github.io

  Public
  SCSS

  •8•1•0•0•Updated Nov 20, 2024Nov 20, 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

  •

  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.

  pythonroboticsgpu+ 5motion-planningnumbamppisampling-based-planningtraversability

  Jupyter Notebook

  •

  MIT License

  •18•195•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

  planneroptimizationpath-planning+ 7rospumaimage-segmentationobstacle-avoidancemultiagent-planningperception-awareframe-alginment

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •1•30•0•0•Updated Jul 19, 2024Jul 19, 2024

• dpgo_ros

  Public
  ROS wrapper for distributed pose graph optimization

  optimizationpose-graph-optimizationmulti-robot-systems+ 3roboticsrosslam

  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

  optimizationpose-graph-optimizationmulti-robot-systems+ 2roboticsslam

  C++

  •

  MIT License

  •28•191•2•1•Updated Jun 17, 2024Jun 17, 2024

• rmader

  Public
  Decentralized Multiagent Trajectory Planner Robust to Communication Delay

  plannerroboticshardware+ 11optimizationpath-planningrosmultiagent-systemstrajectory-optimizationdynamic-environmentsobstacle-avoidance+ 4

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •11•82•4•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

  uavdronepath-planning+ 4planningtrajectory-optimizationautonomous-navigationground-robot

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •184•983•13•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-learningplannerdrones+ 5trajectory-optimizationimitation-learningobstacle-avoidancemulti-modalitymotion-planning

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •10•58•5•0•Updated Mar 5, 2024Mar 5, 2024

• minvo

  Public
  Simplexes with Minimum Volume Enclosing Polynomial Curves

  bezierconvex-hullbspline+ 4bernsteinpolynomial-basesminimum-volumeminvo

  MATLAB

  •

  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

  •

  MIT License

  •75•256•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

  planneroptimizationpath-planning+ 6rosmulti-agenttrajectory-optimizationobstacle-avoidanceminvomader

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •80•504•6•1•Updated Dec 7, 2022Dec 7, 2022

• android_loomo_ros_core

  Public
  Android app to enable ROS on a Loomo robot

  Java

  •

  MIT License

  •21•24•2•0•Updated Nov 21, 2022Nov 21, 2022

• optitrack

  Public
  ROS drivers for OptiTrack Motive 2 motion capture system

  rosmotion-captureoptitrack

  C++

  •

  MIT License

  •13•2•0•0•Updated Nov 9, 2022Nov 9, 2022