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@jhu-asco Autonomous Systems, Control and Optimization (ASCO) Lab

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    33 repositories

    • aerial_autonomy

      Public
      Easily extendable package for interacting with and defining state machines for autonomous aerial systems
      dronestate-machineroboticsrosmanipulationautonomous-quadcoptorautonomy
      C++
      •
      Mozilla Public License 2.0
      •8•26•1•5•Updated Jul 9, 2024Jul 9, 2024

    • quadcopter_parsers

      Public
      Drone Hardware Plugins for the Aerial Autonomy Framework
      C
      •1•0•0•0•Updated Jun 22, 2022Jun 22, 2022

    • dsl

      Public
      D*-Lite Graph Search and Path Planning Library
      C++
      •
      Mozilla Public License 2.0
      •3•5•2•1•Updated Jun 7, 2021Jun 7, 2021

    • gcop

      Public
      Geometric Control Optimization and Planning Library
      C++
      •6•22•0•2•Updated Jun 7, 2021Jun 7, 2021

    • flightmare

      Public
      An Open Flexible Quadrotor Simulator
      C++
      •
      Other
      •345•0•0•0•Updated Mar 31, 2021Mar 31, 2021

    • flightmare_unity

      Public
      C#
      •33•0•0•0•Updated Mar 27, 2021Mar 27, 2021

    • roboschool

      Public
      DEPRECATED: Open-source software for robot simulation, integrated with OpenAI Gym.
      Python
      •
      Other
      •487•0•0•0•Updated Oct 18, 2019Oct 18, 2019

    • gcop_ros_packages

      Public
      ROS Interfaces for GCOP
      C++
      •1•2•0•0•Updated Jul 22, 2019Jul 22, 2019

    • rqt_common_plugins

      Public
      Python
      •132•0•0•0•Updated Feb 7, 2019Feb 7, 2019

    • duo3d_driver

      Public
      ROS Driver for DUO
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •20•0•0•0•Updated Feb 5, 2019Feb 5, 2019

    • robust_gn

      Public
      Nonlinear least squares with uncertainty propagation using linearized dynamics and feedback controller using LQR
      Python
      •0•0•0•0•Updated Sep 20, 2018Sep 20, 2018

    • optimal_control_framework

      Public
      Simple optimal control framework for python
      Python
      •2•13•0•0•Updated Aug 16, 2018Aug 16, 2018

    • robust_ddp

      Public
      Python
      •0•0•0•0•Updated Aug 15, 2018Aug 15, 2018

    • rqt_image_view

      Public
      C++
      •59•0•0•0•Updated Aug 10, 2018Aug 10, 2018

    • ellipsoid_package

      Public
      Basic functions on n dimensional ellipsoids
      Python
      •0•0•0•0•Updated Aug 2, 2018Aug 2, 2018

    • aerial_data_sampling

      Public
      Mozilla Public License 2.0
      •0•0•0•0•Updated Aug 2, 2018Aug 2, 2018

    • dsl_gridsearch

      Public
      ROS node for global path planning using D*-lite on a 2D or 3D grid.
      C++
      •20•47•1•0•Updated Jul 27, 2018Jul 27, 2018

    • dynamixel_motor

      Public
      ROS stack for interfacing with Robotis Dynamixel line of servo motors.
      Python
      •169•0•0•0•Updated Jul 24, 2018Jul 24, 2018

    • hyper_rectangle_propagation

      Public
      Propagate hyper rectangles for system dynamics
      Python
      •0•0•0•0•Updated Jul 11, 2018Jul 11, 2018

    • gazebo_rosmatlab_bridge

      Public
      Fast Communication interface between Gazebo and Matlab to control any robot synchronously
      C++
      •6•14•0•0•Updated May 1, 2018May 1, 2018

    • hand_eye_calibration

      Public
      Hand eye calibration and VINS evaluation
      Python
      •0•1•0•0•Updated Apr 9, 2018Apr 9, 2018

    • gazebo_aerial_manipulation_plugin

      Public
      Provides interface to command a quadrotor using rpyt commands and if joints are provided, will attach servos to them to control the manipulator using joint angles
      C++
      •
      Mozilla Public License 2.0
      •4•2•0•0•Updated Mar 26, 2018Mar 26, 2018

    • camera_imu_sync_apm

      Public
      Provide firmware to create a VINS sensor using an APM2.5 and a pointgrey camera.
      Objective-C
      •
      Mozilla Public License 2.0
      •0•1•0•0•Updated Mar 24, 2018Mar 24, 2018

    • keras-rl

      Public
      Deep Reinforcement Learning for Keras.
      Python
      •
      MIT License
      •1.4k•0•0•0•Updated Jan 18, 2018Jan 18, 2018

    • lie_utils

      Public
      Matlab Lie group utilities: flows and differential operators on GL(n), SE(2), SE(3), SO(3), S^3
      MATLAB
      •
      Mozilla Public License 2.0
      •8•16•1•0•Updated Jan 11, 2018Jan 11, 2018

    • pointgrey_camera_driver

      Public
      ROS driver for Pt. Grey cameras, based on the official FlyCapture2 SDK.
      C++
      •177•0•0•1•Updated Oct 9, 2017Oct 9, 2017

    • Guidance-SDK-ROS

      Public
      The official ROS package of Guidance SDK for 32/64 bit Ubuntu and XU3
      C++
      •87•1•0•0•Updated Sep 12, 2017Sep 12, 2017

    • esc_closed_loop_force_control

      Public
      Perform force measurement using a load cell for a Quadrotor motor. Also control the force to a desired value using the feedback from load cell
      Python
      •1•1•0•1•Updated Sep 5, 2017Sep 5, 2017

    • ar_track_alvar

      Public
      AR tag tracking library for ROS
      C++
      •300•0•0•0•Updated Jul 25, 2017Jul 25, 2017

    • Onboard-SDK-ROS

      Public
      Official ROS packages for DJI onboard SDK.
      C++
      •309•0•0•0•Updated Jun 20, 2017Jun 20, 2017