MIT Aerospace Controls Laboratory

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58 repositories

roman
Public
ROMAN is a view-invariant global localization method that maps open-set objects and uses the geometry, shape, and semantics of objects to find the transformation between a current pose and previously created object map. This enables loop closure between robots even when a scene is observed from opposite views.
Python
•15•238•2•1•Updated Jul 31, 2025Jul 31, 2025
roman_ros
Public
ROS1/2 wrapper for ROMAN, a view-invariant global localization method
Python
•11•87•0•0•Updated Jul 29, 2025Jul 29, 2025
deep_panther
Public
deep-learning planner drones trajectory-optimization imitation-learning obstacle-avoidance multi-modality motion-planning
C++
•
BSD 3-Clause "New" or "Revised" License
•10•70•6•0•Updated Jul 21, 2025Jul 21, 2025
dynus-vlm
Public
Jupyter Notebook
•1•0•0•0•Updated Jun 30, 2025Jun 30, 2025
lunarloc-data
Public
Python
•
MIT License
•3•11•2•0•Updated Jun 23, 2025Jun 23, 2025
clipper
Public
graph-theoretic framework for robust pairwise data association
robotics optimization loop-closure data-association point-cloud-registration maximum-clique sensor-calibration
C++
•
MIT License
•43•267•5•0•Updated Jun 13, 2025Jun 13, 2025
CARV
Public
Repo for robust training of NN controllers with verification tools
Python
•0•3•0•0•Updated Jun 13, 2025Jun 13, 2025
dynus
Public
Jupyter Notebook
•
BSD 3-Clause "New" or "Revised" License
•5•46•2•0•Updated May 16, 2025May 16, 2025
16_06_Class
Public
MIT 16.06 Spring 2025
Jupyter Notebook
•0•1•0•0•Updated May 5, 2025May 5, 2025
bibliography
Public
TeX
•2•0•0•6•Updated May 1, 2025May 1, 2025
low_altitude_flight
Public
Jupyter Notebook
•0•0•0•0•Updated Mar 31, 2025Mar 31, 2025
tcaff
Public
A multiple hypothesis algorithm for aligning coordinate frames of collaborative robots
Python
•0•13•2•0•Updated Mar 22, 2025Mar 22, 2025
faster
Public
3D Trajectory Planner in Unknown Environments
uav drone path-planning planning trajectory-optimization autonomous-navigation ground-robot
C++
•
BSD 3-Clause "New" or "Revised" License
•193•1.1k•15•0•Updated Mar 10, 2025Mar 10, 2025
low_observability_planning
Public
Jupyter Notebook
•0•0•0•0•Updated Feb 15, 2025Feb 15, 2025
mit-acl.github.io
Public
SCSS
•10•1•0•1•Updated Feb 14, 2025Feb 14, 2025
murp-datasets
Public
Jupyter Notebook
•1•4•0•0•Updated Jan 17, 2025Jan 17, 2025
REVISE
Public
Python
•
MIT License
•0•5•0•0•Updated Nov 21, 2024Nov 21, 2024
ROMAN-project
Public
JavaScript
•0•2•0•0•Updated Oct 28, 2024Oct 28, 2024
Batvik-seasonal-dataset-loader
Public
Båtvik seasonal dataset loader
Python
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MIT License
•0•3•0•0•Updated Oct 12, 2024Oct 12, 2024
mppi_numba
Public
A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
python robotics gpu motion-planning numba mppi sampling-based-planning traversability
Jupyter Notebook
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MIT License
•20•246•0•0•Updated Aug 23, 2024Aug 23, 2024
puma
Public
PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment
planner optimization path-planning ros puma image-segmentation obstacle-avoidance multiagent-planning perception-aware frame-alginment
C++
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BSD 3-Clause "New" or "Revised" License
•1•37•0•0•Updated Jul 19, 2024Jul 19, 2024
dpgo_ros
Public
ROS wrapper for distributed pose graph optimization
optimization pose-graph-optimization multi-robot-systems robotics ros slam
C++
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MIT License
•12•61•0•0•Updated Jul 17, 2024Jul 17, 2024
dpgo
Public
Distributed Pose Graph Optimization
optimization pose-graph-optimization multi-robot-systems robotics slam
C++
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MIT License
•31•198•4•1•Updated Jun 17, 2024Jun 17, 2024
rmader
Public
Decentralized Multiagent Trajectory Planner Robust to Communication Delay
planner robotics hardware optimization path-planning ros multiagent-systems trajectory-optimization dynamic-environments obstacle-avoidance
C++
•
BSD 3-Clause "New" or "Revised" License
•12•99•5•3•Updated May 31, 2024May 31, 2024
multi_jackal
Public
ROS packages for simulating multiple Jackals in Gazebo
CMake
•12•2•0•0•Updated Apr 28, 2024Apr 28, 2024
motlee_ros
Public
ROS wrapper for MOTLEE
Python
•0•0•0•0•Updated Apr 24, 2024Apr 24, 2024
online_mhe_reachability
Public
Git repo for the paper "Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances"
0•1•0•0•Updated Mar 6, 2024Mar 6, 2024
minvo
Public
Simplexes with Minimum Volume Enclosing Polynomial Curves
bezier convex-hull bspline bernstein polynomial-bases minimum-volume minvo
MATLAB
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BSD 3-Clause "New" or "Revised" License
•11•77•1•0•Updated Jan 19, 2024Jan 19, 2024
planning
Public
List of planning algorithms developed at MIT-ACL
4•38•0•0•Updated Jul 12, 2023Jul 12, 2023
fastsam_ros
Public
ROS wrapper for FastSAM, with docker
Python
•1•18•0•0•Updated Jun 30, 2023Jun 30, 2023