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@mit-acl

MIT Aerospace Controls Laboratory

see more code at https://gitlab.com/mit-acl

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  1. faster faster Public

    3D Trajectory Planner in Unknown Environments

    C++ 1k 186

  2. cadrl_ros cadrl_ros Public

    ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

    Python 609 158

  3. mader mader Public

    Trajectory Planner in Multi-Agent and Dynamic Environments

    C++ 520 81

  4. gym-collision-avoidance gym-collision-avoidance Public

    OpenEdge ABL 272 75

  5. clipper clipper Public

    graph-theoretic framework for robust pairwise data association

    C++ 245 40

  6. mppi_numba mppi_numba Public

    A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

    Jupyter Notebook 218 19

Repositories

Showing 10 of 53 repositories
  • 16_06_Class Public

    MIT 16.06 Spring 2025

    Jupyter Notebook 0 0 0 0 Updated Mar 2, 2025
  • 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 179 13 2 1 Updated Mar 2, 2025
  • roman_ros Public

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

    Python 77 10 1 0 Updated Feb 26, 2025
  • Jupyter Notebook 0 0 0 0 Updated Feb 15, 2025
  • SCSS 1 9 0 0 Updated Feb 14, 2025
  • bibliography Public
    TeX 0 1 0 2 Updated Jan 17, 2025
  • murp-datasets Public
    Jupyter Notebook 3 1 0 0 Updated Jan 17, 2025
  • tcaff Public

    A multiple hypothesis algorithm for aligning coordinate frames of collaborative robots

    Python 10 0 1 0 Updated Jan 8, 2025
  • clipper Public

    graph-theoretic framework for robust pairwise data association

    C++ 245 MIT 40 3 0 Updated Dec 13, 2024
  • REVISE Public
    Python 5 MIT 0 0 0 Updated Nov 21, 2024