ARIA Lab @ Mines

Code

ARIA Lab Git Repositories

https://github.com/ariarobotics

https://gitlab.com/ariarobotics (Internal)

Robust Data Association

CLIPPER+ algorithm (C++ with Matlab & Python wrapper)

Paper: "CLIPPER+: A Fast Maximal Clique Algorithm for Robust Global Registration"

CLIPPER algorithm (C++ with Matlab & Python wrapper)

Paper: "CLIPPER: A Graph-Theoretic Framework for Robust Data Association"

CLEAR algorithm (Matlab, Python, and C++ implementations)

Paper: "CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association"

Distributed multi-agent perception and control

MIT ACL Swarm Pipeline for Multirotor Formation Flying

Paper: "A Distributed Pipeline for Scalable, Deconflicted Formation Flying"

Vision-Based Formation Control in Unreal Engine 4 - AirSim

Paper: "Vision-Based Distributed Formation Control of Unmanned Aerial Vehicles"

Camera pose estimation from matched feature points

QuEst 5-Point Algorithm with RANSAC

Benchmarking Pose Estimation Algorithms

Paper: "QuEst: A Quaternion-Based Approach for Camera Motion Estimation from Minimal Feature Points"

QuEst 5-Point Algorithm

Paper: "QuEst: A Quaternion-Based Approach for Camera Motion Estimation from Minimal Feature Points"

QuEst 7&6-Point Algorithms

Paper: "Quaternion Based Camera Pose Estimation From Matched Feature Points"

Relinearization-based 5,6,7-Point Algorithms

Paper: "Camera Relative Pose Estimation for Visual Servoing using Quaternions"

Distributed Formation Control

Simulation Comparison of the LF-BCB and Mixed BCB-DB Control Strategies

Paper: "Distributed Formation Control via Mixed Barycentric Coordinate and Distance-Based Approach"

Sphero Distributed Robotic Platform (hosted on Github)

Paper: "Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents"

Distributed Formation Control of Cars with Collision Avoidance

Paper: "Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents"

Distributed Formation Control of Unicycles with Collision Avoidance

Paper: "Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents"

Distributed Formation Control of Quadrotors with Collision Avoidance

Paper: "Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents"

Regular Polygon Formations with Fixed Size and Cyclic Sensing Constraint

Paper: "Regular Polygon Formations with Fixed Size and Cyclic Sensing Constraint"

Robust Distributed Formation Control of Agents with Higher-Order Dynamics

Paper: "Robust Distributed Formation Control of Agents with Higher-Order Dynamics"

Distributed control of cyclic formations with local relative position measurements

Paper: "Distributed control of cyclic formations with local relative position measurements"

Distributed Formation Control and Navigation of Fixed-wing UAVs

Paper: "Distributed Formation Control and Navigation of Fixed-wing UAVs at Constant Altitude"

Formation Control under Arbitrarily Changing Topology

Paper: "Distributed Formation Control Under Arbitrarily Changing Topology"

Distributed Control for Distance and Bearing Based Multi-Agent Formations

Paper: "Globally Asymptotically Stable Distributed Control for Distance and Bearing Based Multi-Agent Formations "

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