MIT Aerospace Controls Laboratory

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60 repositories

16_06_Class
Public
MIT 16.06 Spring 2026
Jupyter Notebook
•0•2•0•0•Updated Mar 11, 2026Mar 11, 2026
dynus
Public
Jupyter Notebook
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BSD 3-Clause "New" or "Revised" License
•9•58•3•0•Updated Mar 7, 2026Mar 7, 2026
roman
Public
[RSS 2025] ROMAN: a view-invariant global localization method that matches objects from different robot views for reliable pose estimation even when a scene is …
Python
•17•271•3•2•Updated Mar 6, 2026Mar 6, 2026
mmda
Public
Multimodal data association
0•0•0•0•Updated Mar 6, 2026Mar 6, 2026
mighty
Public
C++
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BSD 3-Clause "New" or "Revised" License
•5•53•0•0•Updated Mar 4, 2026Mar 4, 2026
CARV
Public
Repo for robust training of NN controllers with verification tools
Python
•2•3•0•0•Updated Mar 4, 2026Mar 4, 2026
mit-acl.github.io
Public
SCSS
•9•1•0•3•Updated Feb 24, 2026Feb 24, 2026
bibliography
Public
TeX
•1•0•0•1•Updated Feb 10, 2026Feb 10, 2026
roman_ros
Public
ROS1/2 wrapper for ROMAN, a view-invariant global localization method
Python
•11•95•0•0•Updated Dec 3, 2025Dec 3, 2025
tcaff
Public
[ICRA 2025] TCAFF: a multiple hypothesis algorithm for aligning coordinate frames of collaborative robots
Python
•1•17•2•0•Updated Sep 26, 2025Sep 26, 2025
clipper
Public
graph-theoretic framework for robust pairwise data association
robotics optimization loop-closure
robotics optimization loop-closure data-association point-cloud-registration maximum-clique sensor-calibration
C++
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MIT License
•44•276•6•0•Updated Sep 16, 2025Sep 16, 2025
deep_panther
Public
deep-learning planner motion-planning
deep-learning planner motion-planning drones trajectory-optimization imitation-learning obstacle-avoidance multi-modality
C++
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BSD 3-Clause "New" or "Revised" License
•10•80•6•0•Updated Jul 21, 2025Jul 21, 2025
dynus-vlm
Public
Jupyter Notebook
•4•12•0•0•Updated Jun 30, 2025Jun 30, 2025
lunarloc-data
Public
Python
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MIT License
•4•15•2•0•Updated Jun 23, 2025Jun 23, 2025
low_altitude_flight
Public
Jupyter Notebook
•0•0•0•0•Updated Mar 31, 2025Mar 31, 2025
faster
Public
3D Trajectory Planner in Unknown Environments
uav drone path-planning
uav drone path-planning planning trajectory-optimization autonomous-navigation ground-robot
C++
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BSD 3-Clause "New" or "Revised" License
•200•1.2k•15•0•Updated Mar 10, 2025Mar 10, 2025
low_observability_planning
Public
Jupyter Notebook
•0•1•0•0•Updated Feb 15, 2025Feb 15, 2025
murp-datasets
Public
Jupyter Notebook
•2•4•0•0•Updated Jan 17, 2025Jan 17, 2025
REVISE
Public
Python
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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
python robotics gpu motion-planning numba mppi sampling-based-planning traversability
Jupyter Notebook
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MIT License
•21•289•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
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•39•0•0•Updated Jul 19, 2024Jul 19, 2024
dpgo_ros
Public
ROS wrapper for distributed pose graph optimization
robotics optimization ros
robotics optimization ros slam pose-graph-optimization multi-robot-systems
C++
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MIT License
•13•62•0•0•Updated Jul 17, 2024Jul 17, 2024
dpgo
Public
Distributed Pose Graph Optimization
robotics optimization slam
robotics optimization slam pose-graph-optimization multi-robot-systems
C++
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MIT License
•34•205•4•1•Updated Jun 17, 2024Jun 17, 2024
rmader
Public
Decentralized Multiagent Trajectory Planner Robust to Communication Delay
planner robotics hardware
planner robotics hardware optimization path-planning ros multiagent-systems trajectory-optimization dynamic-environments obstacle-avoidance
C++
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BSD 3-Clause "New" or "Revised" License
•12•111•5•3•Updated May 31, 2024May 31, 2024
multi_jackal
Public
ROS packages for simulating multiple Jackals in Gazebo
CMake
•11•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
bezier convex-hull bspline bernstein polynomial-bases minimum-volume minvo
MATLAB
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BSD 3-Clause "New" or "Revised" License
•12•81•1•0•Updated Jan 19, 2024Jan 19, 2024