burakyueksel / physics

Physics for robotics, with focus on mechanics, rigid body motion, aerodynamics, and so on.

• 👋 Hi, I’m @burakyueksel
• 👀 I’m an expert in control theory and robotics, especially in flight control: in modeling, simulation and especially in real testing. This means: automated flight, path planning and tracking, position/velocity/attitude controls, multirotor/fixed-wing/VTOL controls, onboard state estimation and localization.
• 👀 I have worked with robotic arms, drones, aircrafts, elastic/rigid joints, servo/brushless motors, camera/IMU/baro/gnss and other sensors.
• 👀 I speak C, C++, Matlab/Simulink, ROS, Python, English, German and Turkish.
• 🌱 I’m learning every day more about neural networks and their pragmatic usage for robotics and aviation.
• 💞️ I’m looking to collaborate on control theory and robotics in general.
• 📫 How to reach me: [email protected]

physics's Issues

Finish se3 ctrl

implementation of se3 ctrl using matrix operations is too long

write an optimized one, where the computations are done on paper explicitly and the result is implemented in the c code implicitly.

finish quaternion based tilt prioritizing attitude controller implementation

Here is the PR

#14

Add system (e.g. aircraft) config file in json format and a parser that creates header file automatically.

Memory allocation and excessive memory usage in some functions

Example, see returnX functions in matrix library.
Example to that:

https://github.com/burakyueksel/physics/blob/main/src/matrix.c#L368

where a new matrix is created, but its memory is never freed.

I have implemented the returnX function, for better coding style. This became very apparent in se3 ctrl implementation. Example
https://github.com/burakyueksel/physics/blob/main/src/controls.c#L292

But it comes with the curse: every time that function is called, the matrix used for that purpose is never deleted.

Find a more elegant solution to that.

And in general to keep the memory usage in control, use stacks.

Add motion planning libraries

Add visualization libraries

For example for:

• Motion of the objects (so far only point object is defined) in space

• Generated trajectories in space

• Variables (states, measurements, etc) wrt time

add gnss models

Motion planning: revise RRT, clean up, add RRT*, A*, more.

I have added the first version of RRT, see PR here:

#21

please read the comment in that PR:

#21 (comment)

needs some love.

Cholesky decomposition for pos def symm matrix inversion is not working correctly

implement the ida-pbc controller for multirotor platforms

See the paper:

https://journals.sagepub.com/doi/full/10.1177/0278364919835605