Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

The Wheelbot: A Jumping Reaction Wheel Unicycle - ICRA 2022

Bluetooth Dashboard for electric unicycles (EUCs) for ESP32(ttgo t-watch). requires PlatformIO to build

Arduino library to interface electric unicycles (e.g. read speed and temperature or change unicycle's settings) via Serial or Bluetooth

A dataset of 'historical' data, useful for munging/ cleaning practice

Linear Model Predictive Controller for Vehicle Trajectory Tracking based on Kinematic Unicycle Vehicle Motion Model with Cubic Polynomial Trajectory Generation. Evolutionary Algorithm-assisted Tuning of MPC prediction horizon and penalty matrices

Markov-Dubins Problem: an Optimal Control Approach. Optimal solutions are found by means of Pontryagin Maximum principle; the rest of the work is focused on the characterization of singular and nonsingular solutions. Simulations conclude the report.

Implementation of basic navigation behaviours for a unicycle robot written in Python

📟 Monitoring mobile application for EUC (KingSong). Written in React Native.

Custom displays for Gotway/Begode EUC vehicles, based on Arduino and MAX7219 chipsets

Proyecto Final para el curso de Taller de Diseño Digital. La idea es hacer un procesador uniciclo para procesar un texto utilizando los lenguajes de programación ARM, Python y SystemVerilog.

Bug fixes & enhancements until palachzzz is back in the game

UniWheel - DIY one-wheel self-balancing vehicle

Experimental KingSong Controller using WebBluetooth API

Switching between patterns and targets generated by range based control law for a unicycle model

Final Project of Robotics & Control 2 Exam (A.Y. 2023/2024) from Prof. Cenedese

🐸 here comes dat boi

Estimated hours to master basic unicycling skills.

"First Order Sliding Mode" and "Approximate Linearization" Control comparison for a perturbed unicycle model