Matthew Kelly

OptimTraj. A trajectory optimization library for Matlab

dscTutorials. A few simple tutorials for dynamical systems and control. Most require Matlab.

ParticleSwarmOptimization. Matlab implementation of particle swarm optimization. Well documented with examples.

ME149_Spring2018. The course website for 'Optimal Control for Robotics', which I taught at Tufts University in Spring 2018

RungeKuttaCpp. A collection of explicit runge-kutta integrators, written in C++

IntroMatlabDynamics. A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems

Continuous_Finite_LQR. Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator

Tractor_Trailer_Control. Simulation of a tractor-trailer truck driving backwards along a curving road. Control via time-varying linear quadratic regulator, estimation via extended Kalman filter

Kinematic_Constrained_Trajectory. MATLAB

Bouncing_Ball_Matlab. Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.

Lagrange_Mechanics_Derivations. Tutorial: derive equations of motion for mechanical systems using Lagrange equations

icra2015_kellyRuina. Non-linear robust control for inverted-pendulum 2D walking

matthewpeterkelly.github.io. Personal website for Matthew Peter Kelly.

DirCol5i. Trajectory Optimization in Matlab, specialized for problems with higher-derivatives (eg. jerk or snap) and / or implicit dynamics.

Matlab_Animation_Tutorial. An tutorial the goes over real-time animation in Matlab, as well as saving video files. Some advanced topics are covered as well.

Chebyshev_Polynomials. Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.

fractal-renderer. Renders high-quality images of fractals.

Bezier_Curves. A few Matlab functions for creating and evaluating bezier curves.

website. A repository for development of my personal website.

RangerSimulation. Source code for my two most well-documented simulators for the Cornell Ranger walking robot.

sns_ik. Saturation in the Null Space (SNS) Inverse Kinematic Library

TwoPhaseOptimalGait. Trajectory optimization, using GPOPS-II, for two-phase walking and running gaits, for a simple walking model

numerical-methods-in-python. This project contains a set of standard numerical methods that I have implemented in python. The source-code for this project is intended to be read as a tutorial.

FluenceMapping. Trajectory optimization to match fluence profiles.

Acrobot_Derivation_Matlab. Derivation of the equations of motion and simulation for the acrobot, an under-actuated double pendulum robot.

Toppling_Stick. Finite-State-Machine simulation of a toppling stick. Careful Analysis. Matlab.

MDP_Pendulum. Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.

poker-stats. Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.

Dynamics_Function_Gradient. Computes gradient of f(x) = A(x) \ b(x) in Matlab.

Polynomial_Smoothing_Matlab. Implementation of polynomial smoothing for several basic functions

Bulirsch-Stoer. Matlab implementation of the Bulirsch-Stoer method for solving initial value problems.

Exponential_Smoothing_Matlab. Exponential smoothing for simple functions: max(), clamp(), abs(), ramp()...

myJavaPkgs. Java utility packages that I wrote, generally related to simulation.

RombergQuadrature. MATLAB