Kota Kondo

A ROS wrapper for implementing convex decomposition

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[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

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Zenoh Bridge Configuration

Reference trajectory generator (circle, figure-8, line) for ROS 2

Mastering Diverse Domains through World Models

Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots

Hardware design for NxPX4

Migration of ACL's trajectory_generator to ROS2

Mavros interface for ACL hardware experiments

Migration of behavior_selector to ROS2

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.

ChangeMissionMode service for ros2 behavior selector

MAVLink to ROS gateway with proxy for Ground Control Station

PX4 Autopilot Software

Migration of snapstack msgs to ROS2

My personal repository

My personal website

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ROS2 version of [IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

FAST-LIO2 on ROS2 with various functionalities for LIO mapping

Claude Code-driven research paper proofreading prompt

A ROS2 package to provide gazebo-classic plugin for Livox Series LiDAR

Perception-Aware Trajectory Planner in Dynamic Environments

ROS 2 bringup launch for trajectory tracking system

Pure pursuit controller with feedforward curvature for ROS 2

Gazebo simulation for Pioneer 3-AT ground robot (ROS 2)

[T-RO'24] Fast and Adaptive Perception and Planning for UAVs in Dynamic Cluttered Environments

[IEEE RA-L'25] Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments (C++/ROS)

3D Trajectory Planner in Unknown Environments

Trajectory Planner in Multi-Agent and Dynamic Environments

A Revised Version of GCOPTER

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"

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Plugin for the simulation of the Livox Mid-360

Intel(R) RealSense(TM) ROS Wrapper for Depth Camera

An efficient single/multi-agent trajectory planner for multicopters.

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ROS stack for mapping with OctoMap, contains octomap_server package

Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

Multi-agent motion planning packages (HDSM method)

Developing robot description model for Unitree Go2 robot configured with Champ Legged Robots Research Repository

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converts image sequence in ros bag files to video files

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.

Wrappers, tools and additional API's for using ROS with Gazebo

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.

ROS2 3D object detection and tracking using pointclouds

RViz display plugins for visualizing octomap messages in ROS

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ROS 2 Navigation Framework and System

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations

ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2

Motion planning and Navigation of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, Voronoi, PID, DWA, APF, LQR, MPC, RPP, DDPG, Bezier, Dubins etc.

NVIDIA-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox

🤗 Diffusers: State-of-the-art diffusion models for image and audio generation in PyTorch

ROS packages for Turtlebot3

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

Rover Trajectory Optimization ROS

Loop Closure Aware MPC

Code for the paper "Training Diffusion Models with Reinforcement Learning"

DDPO for finetuning diffusion models, implemented in PyTorch with LoRA support

Code for the paper "Planning with Diffusion for Flexible Behavior Synthesis"

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

Python sample codes for robotics algorithms.

ROS package for frontier exploration based on wavefront frontier detection

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graph-theoretic framework for robust pairwise data association

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ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

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Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning

this repo contains two kinds of codes: for base station and each agent