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@utiasDSL Learning Systems and Robotics Lab (LSY)

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    28 repositories

    • crazyflow

      Public
      Scalable Crazyflie simulation using JAX and Mujoco.
      Python
      •0•2•1•0•Updated Mar 12, 2025Mar 12, 2025

    • force_push

      Public
      [RA-L 2024] Quasistatic robotic planar pushing with single-point contact using force feedback.
      controlroboticspushingmobile-manipulation
      Python
      •
      MIT License
      •0•8•0•0•Updated Mar 11, 2025Mar 11, 2025

    • upright

      Public
      [RA-L 2023, 2025] Online and offline planning for fast nonprehensile object transportation with a mobile manipulator.
      controlroboticsplanningmpcmobile-manipulation
      Python
      •
      MIT License
      •9•91•0•0•Updated Mar 11, 2025Mar 11, 2025

    • lsy_drone_racing

      Public
      Autonomous drone racing course @ LSY
      Python
      •
      MIT License
      •26•23•5•0•Updated Mar 10, 2025Mar 10, 2025

    • mobile_manipulation_central

      Public
      Central repository for shared mobile manipulation code.
      Python
      •
      MIT License
      •4•14•0•0•Updated Mar 5, 2025Mar 5, 2025

    • safe-control-gym

      Public
      PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
      controlquadcopterroboticssymbolicgymcartpolesafetyquadrotorrobustnesspybullet
      Python
      •
      MIT License
      •136•677•5•6•Updated Mar 4, 2025Mar 4, 2025

    • ocs2

      Public
      Optimal Control for Switched Systems
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •240•5•0•0•Updated Mar 3, 2025Mar 3, 2025

    • gym-pybullet-drones

      Public
      PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
      controlreinforcement-learninguavquadcopterroboticsmulti-agentgymquadrotorgymnasiumcrazyflie
      Python
      •
      MIT License
      •408•1.4k•100•3•Updated Feb 11, 2025Feb 11, 2025

    • cautious-lamp

      Public archive
      Python
      •0•0•0•0•Updated Jan 23, 2025Jan 23, 2025

    • crazyflie_docs

      Public
      Documentation of all Crazyflie projects and routines at LSY
      0•1•0•0•Updated Nov 23, 2024Nov 23, 2024

    • mm_gazebo

      Public archive
      Gazebo interface for mobile manipulator code.
      Python
      •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024

    • mm_diff_ik

      Public archive
      Controller code and utilities for the Thing mobile manipulator.
      Python
      •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024

    • pycffirmware

      Public
      Python module wrapping control and state estimation loops of the Crazyflie firmware for Ubuntu, macOS, and Windows
      C
      •
      GNU General Public License v3.0
      •3•3•1•1•Updated Nov 12, 2024Nov 12, 2024

    • rigeo

      Public
      Rigid body geometry and density realizable inertial parameters.
      Python
      •
      MIT License
      •0•4•0•0•Updated Oct 2, 2024Oct 2, 2024

    • code-release

      Public
      A repository analyzing the impact of open-source code in machine learning, robotics, and controls research
      open-sourceroboticsreproducible-researchcontrol-systems
      Python
      •0•10•0•0•Updated Sep 11, 2024Sep 11, 2024

    • AMSwarmX

      Public
      C++
      •
      MIT License
      •6•39•0•0•Updated Jun 10, 2024Jun 10, 2024

    • util-uwb-dataset

      Public
      The UTIAS UWB dataset and data parsing scripts.
      Python
      •3•36•1•0•Updated Apr 14, 2024Apr 14, 2024

    • utias_ra_loc

      Public
      0•1•0•0•Updated Dec 3, 2023Dec 3, 2023

    • ra_sam

      Public
      C++
      •
      MIT License
      •0•4•0•0•Updated Nov 16, 2023Nov 16, 2023

    • ra_lan

      Public
      Range-aided Localization and Navigation
      1•7•0•0•Updated Nov 16, 2023Nov 16, 2023

    • AMSwarm

      Public
      Repository associated with paper titled "AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments", presented at IEEE ICRA 2023.
      swarm-roboticsmultiagent-planningquadrotor-swarm
      C
      •
      MIT License
      •13•40•1•0•Updated Oct 28, 2023Oct 28, 2023

    • measurement_msgs

      Public
      CMake
      •0•0•0•0•Updated Oct 3, 2023Oct 3, 2023

    • fmpc_socp

      Public
      Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"
      Python
      •
      MIT License
      •2•20•0•0•Updated May 24, 2023May 24, 2023

    • dsl__rpof__sf

      Public
      Robust Predictive Output-Feedback Safety Filter for Uncertain Nonlinear Control Systems
      MATLAB
      •
      MIT License
      •1•8•0•0•Updated Dec 3, 2022Dec 3, 2022

    • robotiq

      Public
      Robotiq packages (http://wiki.ros.org/robotiq)
      C++
      •
      BSD 2-Clause "Simplified" License
      •386•0•0•0•Updated Aug 13, 2022Aug 13, 2022

    • lps-node-firmware

      Public
      C
      •
      GNU Lesser General Public License v3.0
      •80•0•0•0•Updated May 3, 2021May 3, 2021

    • crazyflie-firmware

      Public
      The main firmware for the Crazyflie Nano Quadcopter.
      C
      •
      GNU General Public License v3.0
      •1.1k•0•0•0•Updated Nov 22, 2020Nov 22, 2020

    • papercite

      Public
      Bibtex plugin for wordpress
      PHP
      •
      GNU General Public License v2.0
      •47•0•0•0•Updated Jun 22, 2020Jun 22, 2020