A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

Perception-Aware Trajectory Planner in Dynamic Environments

ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles.

Robot Car realized using Arduino able to follow a path and to detect and avoid obstacles during the way.

Implements a simple obstacle avoidance algorithm that was deployed along with dronekit-python for performing tasks at AUVSI SUAS 2018, Maryland.

The story of a father's pursuit for his lost child.

Реализация алгоритма Дейкстры для поиска кратчайшего пути между двумя вершинами и оптимального маршрута на 3D поверхности с использованием очереди с приоритетом (PriorityQueue).