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udaan

A collection of simulation and control scripts written/developed as part of my thesis, Dynamics and Control for Collaborative Aerial Manipulation.

This package contains mathematical models for quadrotor(s) with suspended payload(s) and controllers for the same. Models are either written manually or modeled using pybullet or mujoco simulators.

Models

Name Remarks
Quadrotor

  • Geometric control on SE(3): paper, code
  • MPC on variation linearized dynamics [3]. TODO
Quadrotor Comparison

  • Geometric L1 Adaptive control on SO(3) [2]. TODO
Quadrotor with Cable Suspended Payload

  • Geometric control on SE(3)xS2. [4]
  • MPC on variation linearized dynamics [5]. TODO

Citations

For individual controllers, please cite the corresponding papers linked in the code/table.

For this repository, please cite the following:

@software{Kotaru_Udaan_Python_mujoco,
author = {Kotaru, Prasanth},
title = {{Udaan: Python mujoco based models and controllers for quadcopter cable-suspended payload systems.}},
url = {https://github.com/vkotaru/udaan},
version = {v0.0.1}
}

© Prasanth Kotaru, 2023