Sequential Convex Programming Toolbox for nonconvex trajectory optimization.
Learning Model Predictive Control for Quadrotors Minimum-Time Flight in Autonomous Racing Scenarios
MAVeric generates minimum snap trajectories for quadrotors and comes with a simple to use GUI, a visualization and simulation of the trajectory, and a CLI version.
Simulation platform for drones swarms
Mission control, Visual detection, Estimation, Mapping and Planning for the wall building challenge of the MBZIRC 2020 competition.
I demonstrate a methodology to implement Linear MPC on a non-Linear system of Quadrotor. While the underlying non-linear dynamics are encapsulated, the high-level control is employed to achieve a Linear control system to use a Linear MPC controller.
Coursework for Aerial Robotics on Coursera
A UAV SIMULATION ENGINE FOR LOGISTICS APPLICATIONS IN FUTURE SMART CITIES
Paper proposal and presentation for the module Control Problems in Robotics: Modelling and Control of Multi-Rotor UAVs (Fall 2018) at Sapienza University of Rome.
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