Giter Site home page Giter Site logo

nmpc_pc_learning's Introduction

nmpc_pc_learning

ROS package for nonlinear model predictive controller (NMPC). The resulting NMPC tracks a reference position trajectory. Besides, it expects the learned values for the disturbance parameters $F^{x_dist}$, $F^{y_dist}$, and $F^{z_dist}$ (as illustrated in the following work).\ Moreover, the following regression packages can be utilized for learning the required disturbance parameters:
wind_nmhe_regression: A nonlinear moving horizon estimation-based regression package.
wind_gp_regression: A Gaussian process-based regression package.\

Moreover, the following packages can be used to command the reference trajectory:
m100_trajectory: A ROS package to generate reference trajectory to traverse a wall.
trajectories: A ROS package to generate reference trajectories.

Note: the utilization of the disturbance parameters can be switched off by setting "use_dist_estimates" to "false" within the launch file.

This NMPC package is utilized in the following work. Please don't forget to consider citing it if you use these codes in your work.

Plain text:

M. Mehndiratta and E. Kayacan, "Gaussian Process-based Learning Control of Aerial Robots for Precise Visualization of Geological Outcrops," 2020 European Control Conference (ECC), Saint Petersburg, Russia, 2020, pp. 10-16.

Bibtex:

@INPROCEEDINGS{9143655,
  author={M. {Mehndiratta} and E. {Kayacan}},
  booktitle={2020 European Control Conference (ECC)}, 
  title={Gaussian Process-based Learning Control of Aerial Robots for Precise Visualization of Geological Outcrops}, 
  year={2020},
  volume={},
  number={},
  pages={10-16}
}

nmpc_pc_learning's People

Contributors

mohit004 avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    ๐Ÿ–– Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. ๐Ÿ“Š๐Ÿ“ˆ๐ŸŽ‰

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google โค๏ธ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.