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udaan

Flying and floating models, such as quadrotors, quadrotors with suspended payloads etc

https://github.com/vkotaru/udaan

Science Score: 28.0%

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    CITATION.cff file
    Found CITATION.cff file
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    codemeta.json file
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    .zenodo.json file
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    DOI references
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    Links to: ieee.org
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    Scientific vocabulary similarity
    Low similarity (7.5%) to scientific vocabulary
Last synced: 6 months ago · JSON representation ·

Repository

Flying and floating models, such as quadrotors, quadrotors with suspended payloads etc

Basic Info
  • Host: GitHub
  • Owner: vkotaru
  • License: mit
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 564 KB
Statistics
  • Stars: 9
  • Watchers: 2
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created about 3 years ago · Last pushed almost 2 years ago
Metadata Files
Readme License Citation

README.md

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

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
  - family-names: Kotaru
    given-names: 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
date-released: 2023-28-10

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