Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.

On solutions to the problem of Event Collapse in Motion Compensation frameworks

Particle Filter Localization for a Differential Drive Robot using LiDAR scans in a 2D Occupancy Grid

This repository contains a demo code for the First Order Motion Model for Image Animation paper.

Kidnapped Vehicle (project 6 of 9 from Udacity Self-Driving Car Engineer Nanodegree)

Kidnapped Vehicle

ROS 2 EKF-based vehicle localization using a CTRA motion model with OptiTrack integration and fallback dead-reckoning.

Crystal-clear Bayes filter implementation for robot localization. Watch probabilities evolve in real-time as a robot navigates with motion uncertainty. Perfect educational example of probabilistic robotics

Create a draft project for EKF SLAM

Matlab code for ideal and noisy 2D velocity motion models

Inverse odometry, pose sampling, and likelihood evaluation for the differential-drive motion model