Sphero Multi-Agent Robotic Testbed for Matlab (SMART_matlab)
版本 1.0.2 (14.7 MB) 作者:
Kaveh Fathian
A distributed robotic testbed for experimental validation of multi-agent algorithms.
共享 'Sphero Multi-Agent Robotic Testbed for Matlab (SMART_matlab)'
We present a distributed robotic platform for test and validation of multi-agent control strategies. As an example, we use this platform to achieve a desired formation of Sphero robots. The formation control and collision avoidance strategies are fully distributed. Implementation details and code are provided online and free.
引用格式
Kaveh Fathian (2024). Sphero Multi-Agent Robotic Testbed for Matlab (SMART_matlab) (https://github.com/TSummersLab/SMART_matlab), GitHub. 检索时间: .
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Formation Control
Helpers
- CameraCheckerboard_Ver1_2.m
- Detect_Sphero_Initial_Ver2_5
- Detect_Sphero_Ver2_5
- FormationControl_FixScale_Ver3_2
- FormationControl_Ver3_2
- FormCtrlDesign_Ver_1_1
- projection
- receive_over_tcpip
- reconstruction
- rgb2cmyk
- send_over_tcpip
- SpheroConnect_Ver1_3
- SpheroControl_Nonhol_Ver3_2
- SpheroControl_Ver3_1
- SpheroDetectionTracking_Ver1_4
- SpheroDisconnect_Ver1_1
- SpheroHeadingSpeedEstim_Ver1_2
- SpheroKalmanFilter_Ver1_2
- SpheroLoadParam_Ver1_4
- SpheroShiftData_Ver1_1
- SpheroStopVideo
- SpheroTCPIPDetectionTracking_Ver1_2
- SpheroTheta0_Ver1_5
- SpheroVideoSetup_Ver1_0
- SpheroVideoStream_Ver1_3
- Sphero_Client_Ver1_2
- Sphero_Server_Ver1_2
- track_Sphero_Ver2_1
Sphero
Sphero/+sphero
Sphero/+sphero/private
Sphero/examples
Sphero/simulink
- getSpheroSetupBlockUserData
- msfun_realtime_pacer
- msfun_sphero_rawmotor
- msfun_sphero_readlocator
- msfun_sphero_readsensor
- msfun_sphero_roll
- msfun_sphero_setup
- sfun3d
- slblocks
cvx
cvx/builtins
cvx/builtins/@cvx
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cvx/sdpt3
cvx/sdpt3/Examples
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cvx/sedumi/conversion
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cvx/sets
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cvx/structures
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cvx/structures/@cvx
Sphero/examples
- Getting Started with Sphero Connectivity Package
- Sphero Connectivity Package EXAMPLES
- Sphero Motion Control
- Sphero Simulink Library and Examples
- Troubleshooting Connection Issues with Sphero
cvx/examples
- Builds a norm minimization tradeoff curve
- Builds and solves a simple inequality-constrained linear program
- Builds and solves a simple least-squares problem using cvx
- Builds and solves a simple linear program
- Closest Toeplitz SDP search.
- Equality constrained norm minimization.
- Examples from the CVX Users' guide
- Minimal phase spectral factorization
- Nonnegative matrix factorization
cvx/examples/antenna_array_design
- Minimize beamwidth of an array with arbitrary 2-D geometry
- Minimize sidelobe level of a uniform linear array via spectral factorization
- Minimize sidelobe level of an array with arbitrary 2-D geometry
- Minimize sidelobe level of an FIR broadband far-field antenna array
- Minimize thermal noise power of an array with arbitrary 2-D geometry
- Plot a polar plot of an antenna array sensitivity
- Spectral factorization using Kolmogorov 1939 approach
cvx/examples/circuit_design
- Combined sizing of drivers, repeaters, and wire
- Combined wire sizing and spacing
- Computes the step response of a linear system
- Digital circuit sizing example (GP)
- Digital circuit sizing for an inverter chain (GP)
- Elmore delay sizing for a straight wire (GP)
- LC oscillator design (GP)
- Optimal interconnect wire sizing
- Plots four different taper desings on a single graph.
- Sizing of clock meshes
- Tri-state bus sizing and topology design
- Two-input NAND gate sizing (GP)
- Wire sizing and topology design
cvx/examples/cvxbook/Ch04_cvx_opt_probs
- Exercise 4.27: Matrix fractional minimization using second-order cone programming
- Exercise 4.31: Design of a cantilever beam (GP)
- Exercise 4.38(b): Linear matrix inequalities with one variable
- Exercise 4.3: Solve a simple QP with inequality constraints
- Exercise 4.47: Maximum determinant PSD matrix completion
- Exercise 4.57: Capacity of a communication channel
- Exercise 4.5: Show the equivalence of 3 convex problem formations
- Exercise 4.60: Log-optimal investment strategy
- Plots a cantilever beam as a 3D figure.
- Section 4.3.1: Compute and display the Chebyshev center of a 2D polyhedron
- Section 4.3.1: Compute the Chebyshev center of a polyhedron
- Section 4.5.4: Design of a cantilever beam: recursive formulation (GP)
- Section 4.5.4: Frobenius norm diagonal scaling (GP)
- Section 4.5.4: Minimum spectral radius via Peron-Frobenius theory (GP)
- Section 4.6.3: Find the fastest mixing Markov chain on a graph
cvx/examples/cvxbook/Ch05_duality
- Examples 5.6,5.8: An l_p norm approximation problem
- Exercise 5.19c: Markovitz portfolio optimization w/ diversification constraint
- Exercise 5.1d: Sensitivity analysis for a simple QCQP
- Exercise 5.33: Parametrized l1-norm approximation
- Exercise 5.39: SDP relaxations of the two-way partitioning problem
- Section 5.2.4: Solves a simple QCQP
- Section 5.2.5: Mixed strategies for matrix games
- Section 5.2.5: Mixed strategies for matrix games (LP formulation)
cvx/examples/cvxbook/Ch06_approx_fitting
- Example 6.2: Robust regression using the Huber penalty
- Example 6.3: Optimal input design
- Example 6.4: Regressor selection problem
- Example 6.6: Comparison of worst-case robust, Tikhonov, and nominal least squares
- Example 6.8: Spline fitting
- Example 6.9: Bounding consumer preference
- Figure 6.15: A comparison of stochastic and worst-case robust approximation
- Figure 6.19: Polynomial fitting
- Figure 6.24: Fitting a convex function to given data
- Figure 6.2: Penalty function approximation
- Figure 6.9: An optimal tradeoff curve
- Figures 6.11-6.14: Total variation reconstruction
- Figures 6.21-6.23: Basis pursuit using Gabor functions
- Figures 6.8-6.10: Quadratic smoothing
- Section 6.1.2: Residual minimization with deadzone penalty
cvx/examples/cvxbook/Ch07_statistical_estim
- Computes Chebyshev lower bounds on probability vectors
- Computes Chernoff upper bounds on probability
- Example 7.2: Maximum entropy distribution
- Example 7.4: Binary hypothesis testing
- Figure 7.1: Logistic regression
- Figure 7.1: Logistic regression (GP version)
- Probability estimate using Monte Carlo methods
- Section 7.1.1: Counting problems with Poisson distribution
- Section 7.1.1: Covariance estimation for Gaussian variables
- Section 7.4.3: Probability bounds example with Voronoi diagram
- Section 7.5.2: Experiment design
cvx/examples/cvxbook/Ch08_geometric_probs
- Computes a minimum-perimeter bounding box subject to positioning constraints
- Euclidean distance between polyhedra
- Euclidean distance between polyhedra in 2D
- Euclidean projection on a halfspace
- Euclidean projection on a hyperplane
- Euclidean projection on a rectangle
- Euclidean projection on the nonnegative orthant
- Euclidean projection on the semidefinite cone
- Example 8.3: Bounding correlation coefficients
- Example 8.4: One free point localization
- Example 8.7: Floorplan generation test script
- Figure 8.10: Approximate linear discrimination via linear programming
- Figure 8.11: Approximate linear discrimination via support vector classifier
- Figure 8.15: Linear placement problem
- Figure 8.16: Quadratic placement problem
- Figure 8.17: Fourth-order placement problem
- Figure 8.8: Simplest linear discrimination
- Figure 8.9: Robust linear discrimination problem
- Floor planning
- Maximum volume inscribed ellipsoid in a polyhedron
- Minimum volume ellipsoid covering a finite set
- Minimum volume ellipsoid covering union of ellipsoids
- One free point localization
- Polynomial discrimination
- Polynomial discrimination
- Quadratic discrimination (separating ellipsoid)
- Section 8.1.1: Separating a point from a polyhedron
- Section 8.2.2: Separating polyhedra in 2D
- Section 8.5.3: Analytic center of a set of linear inequalities
- Separating ellipsoids in 2D
- Solve a floor planning problem given graphs H & V
cvx/examples/cvxbook/Ch11_intpt_methods
cvx/examples/filter_design
- Chebychev design of an FIR filter given a desired H(w)
- Design a 1/f spectrum shaping (pink-noise) filter
- Equalizer design example
- Maximize stopband attenuation of a bandpass IIR filter
- Maximize stopband attenuation of a linear phase lowpass FIR filter
- Maximize stopband attenuation of a lowpass FIR filter (magnitude design)
- Maximize stopband attenuation of a lowpass IIR filter
- Minimize order of a linear phase lowpass FIR filter
- Minimize order of a lowpass FIR filter (magnitude design)
- Minimize stopband ripple of a linear phase lowpass FIR filter
- Minimize transition bandwidth of a linear phase lowpass FIR filter
- Spectral factorization using Kolmogorov 1939 approach.
cvx/examples/gp_tutorial
- Box volume maximization
- Digital circuit sizing
- Digital circuit sizing (vectorized)
- Elmore delay sizing for an interconnect network.
- Floor planning with an optimal trade-off curve.
- Optimal doping profile optimization
- Optimal doping profile optimization with current gain constraint.
- Simple power control in communication systems via GP.
cvx/examples/graph_laplacian
- Computes fastest mixing Markov chain (FMMC) edge weights
- Computes the constant edge weight that yields fastest averaging.
- Computes the fastest distributed linear averaging (FDLA) edge weights
- Computes the maximum-degree heuristic edge weights
- Computes the Metropolis-Hastings heuristic edge weights
- FDLA and FMMC solutions for a 50-node, 200-edge graph
- FDLA and FMMC solutions for a 64-node, 95-edge cut-grid graph
- FDLA and FMMC solutions for an 8-node, 13-edge graph
- Generate a cut-grid graph for the ICM 2006 talk example
- Plots a graph with each edge width proportional to its weight.
cvx/examples/log_exp
- Entropy maximization
- Sparse covariance estimation for Gaussian variables
- Sparse covariance estimation for Gaussian variables
- Weighted analytic center of a set of linear inequalities
cvx/examples/sparse_heuristics
- Computing a sparse solution of a set of linear inequalities
- Detecting a small subset of infeasible linear inequalities
- Finding a point that satisfies many linear inequalities
cvx/examples/time_series_analysis
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| 1.0.2 | Added acknowledgments. |
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| 1.0.1 | Added snapshot. |
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