spirit

spirit is a library to control one or group of ground vehicle with a Model-based predictive controller

Dependencie

• Eigen3
• HAL : if examples used
• Pangolin
• SceneGraph
• Bullet2.84
• ceres-solver

Examples

• sim_car : application showing simple vehicle simulation on flat ground
• bvp_example : simple boundary value solver example showing a local planning problem between two waypoints
• car_robot : application to test internals of spirit
• car_calib : application to calibrate vehicle parameters (requires arpg's parkour car robot to run)
• gamepad_drive : application to drive parkour car with a gamepad (requires arpg's parkour car robot to run)
• mpc_car : application using spirit's internal mpc controller (requires arpg's parkour car robot to run)

Developers

• Sina Aghli

Publications

• Sina Aghli and Christoffer Heckman, “Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles” IEEE International Conference On Robotics and Automation 2018
• H Ravanbakhsh, S Aghli, C Heckman, S Sankaranarayanan, “Path-Following though Control Lyapunov Functions” International Conference on Intelligent Robots 2018