MIT Aerospace Controls Laboratory

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59 repositories

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 observed from opposite views
Python
•16•262•2•0•Updated Oct 3, 2025Oct 3, 2025
mit-acl.github.io
Public
SCSS
•9•1•0•0•Updated Sep 30, 2025Sep 30, 2025
bibliography
Public
TeX
•2•0•0•0•Updated Sep 30, 2025Sep 30, 2025
tcaff
Public
[ICRA 2025] TCAFF: a multiple hypothesis algorithm for aligning coordinate frames of collaborative robots
Python
•0•14•2•0•Updated Sep 26, 2025Sep 26, 2025
roman_ros
Public
ROS1/2 wrapper for ROMAN, a view-invariant global localization method
Python
•11•93•0•0•Updated Sep 24, 2025Sep 24, 2025
mighty
Public
Jupyter Notebook
•
BSD 3-Clause "New" or "Revised" License
•0•2•0•0•Updated Sep 17, 2025Sep 17, 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
•45•272•6•0•Updated Sep 16, 2025Sep 16, 2025
dynus
Public
Jupyter Notebook
•
BSD 3-Clause "New" or "Revised" License
•9•52•2•0•Updated Aug 1, 2025Aug 1, 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•74•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
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MIT License
•4•13•2•0•Updated Jun 23, 2025Jun 23, 2025
CARV
Public
Repo for robust training of NN controllers with verification tools
Python
•1•3•0•0•Updated Jun 13, 2025Jun 13, 2025
16_06_Class
Public
MIT 16.06 Spring 2025
Jupyter Notebook
•0•2•0•0•Updated May 5, 2025May 5, 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 planning trajectory-optimization autonomous-navigation ground-robot
C++
•
BSD 3-Clause "New" or "Revised" License
•196•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
murp-datasets
Public
Jupyter Notebook
•2•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•259•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•39•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•62•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
•33•201•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++
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BSD 3-Clause "New" or "Revised" License
•12•106•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•79•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