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deep_koopman_autoencoder

DNN based Koopman autoencoder model

hamilton-jacobi-koopman

A project for identifying Koopman eigenfunctions for Hamiltonian systems

koopman_learning_and_control

Repository for Koopman based learning and nonlinear control

koopman_pathintegral

This repo is used to document my progress in computing the principle eigenfunctions of the Koopman operator using path integrals

koopman_robots

This Repo is part of my implementation for applying Koopman Operator Theory for Robotic Systems

koopmanmpc_av

This repo is for developing a Koopman operator based MPC for autonomous vehicles.

koopmanmpc_quadrotor

Develop a Koopman operator based MPC for controlling a quadrotor

mpc_cdf

Discrete time safe MPC with CDF constraints

optim_energyshaping

Optimization based control for quadruped locomotion using energy shaping

passivity_based_control

Develop passivity based control for vehicle dynamics and wheeled quadruped robots based on energy shaping

quad_density

Density function based motion planning for quadruped locomotion

quad_manipulator

This repo will document my progress towards developing a Simulink based controller for quadruped locomotion with a manipulator for MathWorks Excellence in Innovation

robust_optimization

This repo is part of the journal submission "Model Free Robust Optimization using Continuous Time Dynamics"

safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

safe_robots

sriram-2502

Config files for my GitHub profile.

uncertainty_aware_navigation

This repo documents my motion planning project on uncertainty aware local navigation for multiagent systems