README.md

Awesome MATLAB and Simulink Robotics

This is a list of awesome demos, tutorials, utilities and overall resources for the robotics community that use MATLAB® and Simulink®. For more information and to get your projects included in this list, reach out to [email protected]

• By Applications Areas
  • Ground Vehicles and Mobile Robotics
  • Manipulation
  • Legged Locomotion
  • Robot Modeling
  • Perception
  • Mapping, Localization and SLAM
  • Motion Planning and Path Planning
  • Motion Control
  • Unmanned Aerial Vehicles (UAV)
  • Marine Robotics & AUV
  • Automated Driving
• By Common Tools
  • Simulators
  • ROS and Middleware
  • Hardware and Connectivity
• By Relevant MATLAB Toolboxes

By Applications Areas

Ground Vehicles and Mobile Robotics

Developing Navigation Stacks for Mobile Robots and UGV Kinematic motion models for simulation Control and simulation of warehouse robots Programming of soccer robot behavior (Video) Simulation and programming of robot swarm (Video) Mapping, Localization and SLAM (See Section Below) Motion Planning and Path Planning (See Section Below) Mobile Robotics Simulation Toolbox (Video) Robotics Playground (Robotics Education - Video)

Manipulation

Tools for rigid body tree dynamics and analysis Inverse Kinematics (Blog and GitHub Repo) Inverse kinematics with spatial constraints Interactive Inverse Kinematics Collision checking (Self-Collisions, Environment Collisions) Trajectory Generation (Blog, GitHub Repo) Safe trajectory planning (Impedance based control) Pick and place workflows (Using Gazebo) Learning Dual Quaternion Modeling and Control for Manipulators(GitHub)

Legged Locomotion

Modeling and simulation of walking robots (GitHub Repo) Pattern Generation for Walking Robots (Video) Linear Inverted Pendulum Model (LIPM)for humanoid walking (Video) Deep Reinforcement Learning for Walking Robots (Video) Modeling of quadruped robot running (Files) Quadruped Robot Locomotion Using DDPG Agent

Robot Modeling

Simscape™ Tools for Modeling and Simulation of Physical Systems Simulate Manipulator Actuators and Tune Control Parameters Algorithm Verification Using Robot Models Import Robots to MATLAB from URDF Files Import Robots from CAD and URDF Files

Perception

Deep Learning and Machine Learning Lidar and 3D Point Cloud Processing 3D Vision and Stereo Vision Feature Detection, Extraction, and Matching Object Tracking and Motion Estimation Orientation Estimation from Inertial Sensors Drift Reduction for Visual Odometry

Mapping, Localization and SLAM

2D Lidar SLAM Implementations (Offline, Online) 3D Lidar SLAM Implementation SLAM Map Builder Application Occupancy Grid Utilities Monte Carlo Localization Ego-Centric (Near Field) Occupancy Maps

Motion Planning and Path Planning

Motion Planners (RRT, PRM, Hybrid A*) RRT Planners for Manipulators RRT Planners for Mobile Robots Path Planning Using Probabilistic Road Maps Path Following with Obstacle Avoidance Dynamic Re-planning of Paths Choosing Path Planning Algorithms

Motion Control

Obstacle Avoidance for Mobile Robots Using Reinforcement Learning Deep Reinforcement Learning for Walking Robots (Video) Model Predictive Control for collision-free manipulation trajectories Model Predictive Control for holonomic robot navigation Multi-Loop PI Control Tuning for Robotic Arm Actuators

Unmanned Aerial Vehicles (UAV)

Simulation Library for Fixed-Wing and Multi-Rotor UAVs Tune Waypoint Follower for Fixed-Wing UAV Approximate High-Fidelity UAV models Load and Playback MAVLink TLOG Use a MAVLink Parameter Protocol for Tuning UAV Parameters in MATLAB Support for Parrot Drones Support for PX4 Autopilots

Marine Robotics & AUV

AUV Development with MATLAB and Simulink (Webinar, Videos, GitHub) Estimating Direction of Arrival for AUV’s System Identification for Blue Robotics Thrusters LQR Control of an AUV Dynamics and Control of AUV’s (GitHub Repo) Modeling Robotic Boats in Simulink Simulation and Control of RobotX Challenge WAM-V Boats

Automated Driving

Lane Following Control with Sensor Fusion and Lane Detection Automate Ground Truth Labeling for Semantic Segmentation Track Vehicles Using Lidar: From Point Cloud to Track List Track-Level Fusion of Radar and Lidar Data Visualize Automated Parking Valet Using 3D Simulation Design Lidar SLAM Algorithm Using 3D Simulation Environment Implementing an Adaptive Cruise Controller with Simulink

By Common Tools

Simulators

ROS � Based Simulators (See Section Below) Gazebo Co-Simulation UNREAL-Engine-Based Scenarios for Automated Driving Mobile Robotics Simulation Toolbox (GitHub Repo) Robotics Playground (GitHub Repo)

ROS and Middleware

Getting Started with MATLAB, Simulink and ROS MATLAB support for ROS and ROS 2 Simulink Support for ROS and ROS 2 Support for ROS Custom Messages Automatic ROS Node Generation from Simulink ROS Node Generation for Raspberry Pi

Hardware and Connectivity

Any Robot Running ROS (See ROS Section) Robotics System Toolbox Support for Kinova Robots Robotics System Toolbox Support for Universal Robots Toyota HSR Examples TurtleBot Robots VEX Robotics Raspberry Pi BeagleBone Blue LEGO Mindstorms MATLAB and Simulink Hardware Support Packages

By Relevant MATLAB Toolboxes

• Robotics System Toolbox™
• ROS Toolbox
• Navigation Toolbox™
• Sensor Fusion and Tracking Toolbox™
• Computer Vision Toolbox™
• Automated Driving Toolbox™
• RoadRunner
• Deep Learning Toolbox™
• Reinforcement Learning Toolbox™
• Control System Toolbox™
• Simscape™

Copyright 2020 The MathWorks, Inc