├── .github ├── FUNDING.yml ├── ISSUE_TEMPLATE │ └── bug_report.md └── workflows │ ├── Linux_CI.yml │ └── MacOS_CI.yml ├── .gitignore ├── .lgtm.yml ├── .travis.yml ├── AerialNavigation ├── drone_3d_trajectory_following │ ├── Quadrotor.py │ ├── TrajectoryGenerator.py │ └── drone_3d_trajectory_following.py └── rocket_powered_landing │ ├── figure.png │ ├── rocket_powered_landing.ipynb │ └── rocket_powered_landing.py ├── ArmNavigation ├── __init__.py ├── arm_obstacle_navigation │ ├── arm_obstacle_navigation.py │ └── arm_obstacle_navigation_2.py ├── n_joint_arm_3d │ ├── NLinkArm3d.py │ ├── __init__py.py │ ├── random_forward_kinematics.py │ └── random_inverse_kinematics.py ├── n_joint_arm_to_point_control │ ├── NLinkArm.py │ ├── __init__.py │ └── n_joint_arm_to_point_control.py └── two_joint_arm_to_point_control │ ├── Planar_Two_Link_IK.ipynb │ └── two_joint_arm_to_point_control.py ├── Bipedal ├── __init__.py └── bipedal_planner │ └── bipedal_planner.py ├── CONTRIBUTING.md ├── Introduction └── introduction.ipynb ├── InvertedPendulumCart └── inverted_pendulum_mpc_control.py ├── LICENSE ├── Localization ├── Kalmanfilter_basics.ipynb ├── Kalmanfilter_basics_2.ipynb ├── bayes_filter.png ├── ensemble_kalman_filter │ └── ensemble_kalman_filter.py ├── extended_kalman_filter │ ├── ekf.png │ ├── extended_kalman_filter.py │ └── extended_kalman_filter_localization.ipynb ├── histogram_filter │ └── histogram_filter.py ├── particle_filter │ ├── particle_filter.ipynb │ └── particle_filter.py └── unscented_kalman_filter │ └── unscented_kalman_filter.py ├── Mapping ├── circle_fitting │ └── circle_fitting.py ├── gaussian_grid_map │ └── gaussian_grid_map.py ├── grid_map_lib │ └── grid_map_lib.py ├── kmeans_clustering │ └── kmeans_clustering.py ├── lidar_to_grid_map │ ├── animation.gif │ ├── grid_map_example.png │ ├── lidar01.csv │ ├── lidar_to_grid_map.py │ └── lidar_to_grid_map_tutorial.ipynb ├── raycasting_grid_map │ └── raycasting_grid_map.py └── rectangle_fitting │ ├── rectangle_fitting.py │ └── simulator.py ├── PathPlanning ├── AStar │ └── a_star.py ├── BSplinePath │ ├── Figure_1.png │ └── bspline_path.py ├── BatchInformedRRTStar │ └── batch_informed_rrtstar.py ├── BezierPath │ ├── Figure_1.png │ ├── Figure_2.png │ └── bezier_path.py ├── BidirectionalAStar │ └── bidirectional_a_star.py ├── BidirectionalBreadthFirstSearch │ └── bidirectional_breadth_first_search.py ├── BreadthFirstSearch │ └── breadth_first_search.py ├── ClosedLoopRRTStar │ ├── Figure_1.png │ ├── Figure_3.png │ ├── Figure_4.png │ ├── Figure_5.png │ ├── __init__.py │ ├── closed_loop_rrt_star_car.py │ ├── pure_pursuit.py │ └── unicycle_model.py ├── CubicSpline │ ├── Figure_1.png │ ├── Figure_2.png │ ├── Figure_3.png │ ├── __init__.py │ └── cubic_spline_planner.py ├── DepthFirstSearch │ └── depth_first_search.py ├── Dijkstra │ └── dijkstra.py ├── DubinsPath │ ├── __init__.py │ └── dubins_path_planning.py ├── DynamicWindowApproach │ └── dynamic_window_approach.py ├── Eta3SplinePath │ └── eta3_spline_path.py ├── Eta3SplineTrajectory │ └── eta3_spline_trajectory.py ├── FrenetOptimalTrajectory │ └── frenet_optimal_trajectory.py ├── GreedyBestFirstSearch │ └── greedy_best_first_search.py ├── GridBasedSweepCPP │ └── grid_based_sweep_coverage_path_planner.py ├── HybridAStar │ ├── __init__.py │ ├── a_star_heuristic.py │ ├── car.py │ └── hybrid_a_star.py ├── InformedRRTStar │ └── informed_rrt_star.py ├── LQRPlanner │ └── LQRplanner.py ├── LQRRRTStar │ └── lqr_rrt_star.py ├── ModelPredictiveTrajectoryGenerator │ ├── __init__.py │ ├── lookuptable.png │ ├── lookuptable_generator.py │ ├── model_predictive_trajectory_generator.py │ └── motion_model.py ├── PotentialFieldPlanning │ └── potential_field_planning.py ├── ProbabilisticRoadMap │ └── probabilistic_road_map.py ├── QuinticPolynomialsPlanner │ ├── quintic_polynomials_planner.ipynb │ └── quintic_polynomials_planner.py ├── RRT │ ├── __init__.py │ ├── figure_1.png │ ├── rrt.py │ └── rrt_with_pathsmoothing.py ├── RRTDubins │ ├── __init__.py │ └── rrt_dubins.py ├── RRTStar │ ├── Figure_1.png │ ├── __init__.py │ ├── rrt_star.ipynb │ └── rrt_star.py ├── RRTStarDubins │ └── rrt_star_dubins.py ├── RRTStarReedsShepp │ ├── figure_1.png │ └── rrt_star_reeds_shepp.py ├── ReedsSheppPath │ └── reeds_shepp_path_planning.py ├── StateLatticePlanner │ ├── Figure_1.png │ ├── Figure_2.png │ ├── Figure_3.png │ ├── Figure_4.png │ ├── Figure_5.png │ ├── Figure_6.png │ ├── __init__.py │ ├── lookuptable.csv │ └── state_lattice_planner.py ├── VisibilityRoadMap │ ├── __init__.py │ ├── geometry.py │ └── visibility_road_map.py ├── VoronoiRoadMap │ ├── dijkstra_search.py │ ├── kdtree.py │ └── voronoi_road_map.py └── __init__.py ├── PathTracking ├── cgmres_nmpc │ ├── Figure_1.png │ ├── Figure_2.png │ ├── Figure_3.png │ ├── Figure_4.png │ ├── cgmres_nmpc.ipynb │ └── cgmres_nmpc.py ├── lqr_speed_steer_control │ └── lqr_speed_steer_control.py ├── lqr_steer_control │ ├── __init__.py │ └── lqr_steer_control.py ├── model_predictive_speed_and_steer_control │ ├── Model_predictive_speed_and_steering_control.ipynb │ └── model_predictive_speed_and_steer_control.py ├── move_to_pose │ └── move_to_pose.py ├── pure_pursuit │ └── pure_pursuit.py ├── rear_wheel_feedback │ ├── Figure_2.png │ └── rear_wheel_feedback.py └── stanley_controller │ └── stanley_controller.py ├── README.md ├── SLAM ├── EKFSLAM │ ├── animation.png │ ├── ekf_slam.ipynb │ └── ekf_slam.py ├── FastSLAM1 │ ├── FastSLAM1.ipynb │ ├── animation.png │ └── fast_slam1.py ├── FastSLAM2 │ └── fast_slam2.py ├── GraphBasedSLAM │ ├── LaTeX │ │ ├── .gitignore │ │ ├── graphSLAM.bib │ │ └── graphSLAM_formulation.tex │ ├── data │ │ ├── README.rst │ │ └── input_INTEL.g2o │ ├── graphSLAM_SE2_example.ipynb │ ├── graphSLAM_doc.ipynb │ ├── graphSLAM_formulation.pdf │ ├── graph_based_slam.py │ ├── graphslam │ │ ├── __init__.py │ │ ├── edge │ │ │ ├── __init__.py │ │ │ └── edge_odometry.py │ │ ├── graph.py │ │ ├── load.py │ │ ├── pose │ │ │ ├── __init__.py │ │ │ └── se2.py │ │ ├── util.py │ │ └── vertex.py │ └── images │ │ └── Graph_SLAM_optimization.gif ├── __init__.py └── iterative_closest_point │ └── iterative_closest_point.py ├── _config.yml ├── appveyor.yml ├── docs ├── Makefile ├── README.md ├── _static │ └── .gitkeep ├── conf.py ├── getting_started.rst ├── index.rst ├── jupyternotebook2rst.py ├── make.bat ├── modules │ ├── FastSLAM1.rst │ ├── FastSLAM1_files │ │ ├── FastSLAM1_12_0.png │ │ ├── FastSLAM1_12_1.png │ │ └── FastSLAM1_1_0.png │ ├── Kalmanfilter_basics.rst │ ├── Kalmanfilter_basics_2.rst │ ├── Kalmanfilter_basics_2_files │ │ └── Kalmanfilter_basics_2_5_0.png │ ├── Kalmanfilter_basics_files │ │ ├── Kalmanfilter_basics_14_1.png │ │ ├── Kalmanfilter_basics_16_0.png │ │ ├── Kalmanfilter_basics_19_1.png │ │ ├── Kalmanfilter_basics_21_1.png │ │ ├── Kalmanfilter_basics_22_0.png │ │ └── Kalmanfilter_basics_28_1.png │ ├── Model_predictive_speed_and_steering_control.rst │ ├── Planar_Two_Link_IK.rst │ ├── Planar_Two_Link_IK_files │ │ ├── Planar_Two_Link_IK_12_0.png │ │ ├── Planar_Two_Link_IK_5_0.png │ │ ├── Planar_Two_Link_IK_7_0.png │ │ └── Planar_Two_Link_IK_9_0.png │ ├── aerial_navigation.rst │ ├── appendix.rst │ ├── arm_navigation.rst │ ├── cgmres_nmpc.rst │ ├── cgmres_nmpc_files │ │ ├── cgmres_nmpc_1_0.png │ │ ├── cgmres_nmpc_2_0.png │ │ ├── cgmres_nmpc_3_0.png │ │ └── cgmres_nmpc_4_0.png │ ├── extended_kalman_filter_localization.rst │ ├── extended_kalman_filter_localization_files │ │ └── extended_kalman_filter_localization_1_0.png │ ├── introduction.rst │ ├── localization.rst │ ├── mapping.rst │ ├── path_planning.rst │ ├── path_tracking.rst │ ├── rocket_powered_landing.rst │ ├── rrt_star.rst │ ├── rrt_star_files │ │ └── rrt_star_1_0.png │ └── slam.rst └── notebook_template.ipynb ├── environment.yml ├── icon.png ├── mypy.ini ├── requirements.txt ├── rundiffstylecheck.sh ├── runtests.sh ├── tests ├── .gitkeep ├── test_LQR_planner.py ├── test_a_star.py ├── test_batch_informed_rrt_star.py ├── test_bezier_path.py ├── test_cgmres_nmpc.py ├── test_circle_fitting.py ├── test_closed_loop_rrt_star_car.py ├── test_dijkstra.py ├── test_drone_3d_trajectory_following.py ├── test_dubins_path_planning.py ├── test_dynamic_window_approach.py ├── test_ekf_slam.py ├── test_eta3_spline_path.py ├── test_extended_kalman_filter.py ├── test_fast_slam1.py ├── test_fast_slam2.py ├── test_frenet_optimal_trajectory.py ├── test_gaussian_grid_map.py ├── test_graph_based_slam.py ├── test_grid_based_sweep_coverage_path_planner.py ├── test_grid_map_lib.py ├── test_histogram_filter.py ├── test_hybrid_a_star.py ├── test_informed_rrt_star.py ├── test_inverted_pendulum_mpc_control.py ├── test_iterative_closest_point.py ├── test_kmeans_clustering.py ├── test_lqr_rrt_star.py ├── test_lqr_speed_steer_control.py ├── test_lqr_steer_control.py ├── test_model_predictive_speed_and_steer_control.py ├── test_move_to_pose.py ├── test_n_joint_arm_to_point_control.py ├── test_particle_filter.py ├── test_potential_field_planning.py ├── 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