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abstraction-based-controller-design

This repository is based on the work of `On abstraction-based controller design with output feedback` by Rupak Majumdar, Necmiye Ozay, and Anne-Kathrin Schmuck.

academic_homepage

awesome-go

A curated list of awesome Go frameworks, libraries and software

brom_drake-py

Brom is a helper library for the Drake robotics simulation and verification library.

continuum-robot-kinematics

My experiments with Continuum Robot Kinematics are documented here. Test functions and functions that incorporate various methods for continuum robot kinematics will be contained (hopefully in different folders) in this project.

discrete-knowl-graphs

Testing for the Discrete Knowledge Graphs project.

drake

A planning, control, and analysis toolbox for nonlinear dynamical systems. Please see the WIKI for documentation.

drone-testbed

Code for drone control

eq-perf-tests

finite-horizon-adaptive-control

franka_ros

A template repository for projects that run on our Franka Research 3

go-polyhedron

A short repository written in the form of MPT3. Meant to make it easier to analyze Polyhedron objects in go.

gocontrol

This is meant to be a library for golang which implements several of the nicer functions from MATLAB for doing Control Theory work including manipulation of Polyhedra (like MPT3).

goop

Generalized Mixed Integer Optimization in Go

goop2

This project is meant to implement an optimization toolbox with nice default features like MATLAB's YALMIP. It is a spiritual successor to the goop library from MIT's Distributed Robotics Lab. This version is meant to be written in pure Go and makes use of my own low-level library for interfacing with Gurobi.

gurobi.go

unofficial Gurobi inferface for Golang

ioe691-project

This repository contains the example files (in Julia) that were used to compare the ability of Diagonally Dominant Sums of Squares (DSOS) polynomials to replace Sums of Squares (SOS) polynomials within a certain problem class: Stability Number Calculation. Mostly written in Julia, this contains multiple notebooks outlining our examples.

jax

Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more

kam.jl

An implementation of the Knowledge Abstraction and Minimization algorithm from Ozay, Majumdar and Schmuck.

kinova_drake

Code for controlling a Kinova Gen3 Manipulator via Drake.

kltl0

A set of experiments used to perform design of control algorithms for the temporal logic KLTL.

learning-to-slide

maposmdroidkotlinexample

measurement-scheduling0

This repository is meant to house some of the ideas from the joint project between Prof. Ozay (University of Michigan) and Prof. Jungers (Université catholique de Louvain) about scheduling measurements for a linear system.)

mkz

model-checking-explorer

This is meant to document and store my exploration of the 'Principles of Model Checking' text by Baier and Katoen.

modelchecking

An implementation of the algorithms in Baier and Katoen (and maybe more!). Feel free to message me about desired functionality or errors that you might find.

modelchecking.jl

An implementation of some of the algorithms developed in the Principles of Model Checking by Baier and Katoen. This repository is meant to be used as a learning tool and thus may not include the most efficient algorithms.

neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions

ozaygroupexploration

Some of the code that I use to explore ideas (Model Checking, Game Theory, etc.) while a member of the Özay Group at the University of Michigan.