Repositories list

• drone-controllers

  Public
  Drone controllers @ LSY. Contains numeric (NumPy, JAX, Torch, ...) versions of onboard controllers.

  Python

  •0•0•0•0•Updated Sep 2, 2025Sep 2, 2025

• drone-models

  Public
  Drone models @ LSY. Contains symbolic (CasADi) and numeric (NumPy, JAX) versions of each system.

  Python

  •0•0•1•0•Updated Sep 2, 2025Sep 2, 2025

• crisp_py

  Public
  Simple python interface to be used with crisp_controllers.

  Python

  •

  MIT License

  •0•10•0•1•Updated Aug 31, 2025Aug 31, 2025

• crisp_gym

  Public
  Gym environments for manipulators based on crisp_py and ROS2: collect data and deploy policies on real ROS2 enabled manipulators.

  pythonroboticsvla+ 2diffusion-policygymnasium-environment

  Python

  •

  MIT License

  •0•7•4•1•Updated Aug 31, 2025Aug 31, 2025

• gym-pybullet-drones

  Public
  PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

  controlreinforcement-learninguav+ 11quadcopterroboticsmulti-agentgymquadrotorgymnasiumcrazyflie+ 4

  Python

  •

  MIT License

  •453•1.6k•107•3•Updated Aug 30, 2025Aug 30, 2025

• crisp_controllers

  Public
  CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

  cpppython3ros2+ 3cartesian-impedence-controlrobot-manipulationoperational-space-control

  C++

  •2•52•1•0•Updated Aug 29, 2025Aug 29, 2025

• crazyflow

  Public
  Scalable Crazyflie simulation using JAX.

  Python

  •

  MIT License

  •4•29•2•0•Updated Aug 27, 2025Aug 27, 2025

• mobile_manipulation_central

  Public
  Central repository for shared mobile manipulation code.

  Python

  •

  MIT License

  •3•17•0•0•Updated Aug 24, 2025Aug 24, 2025

• safe-control-gym

  Public
  PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

  controlquadcopterrobotics+ 9symbolicgymcartpolesafetyquadrotorrobustnesspybullet+ 2

  Python

  •

  MIT License

  •145•757•5•2•Updated Aug 19, 2025Aug 19, 2025

• crisp_controllers_demos

  Public
  Demos on how to use the ros2_control compatible CRISP controllers - including cartesian impedance control and operational space control.

  Python

  •1•7•0•0•Updated Aug 19, 2025Aug 19, 2025

• core_course_examples

  Public
  Jupyter Notebook

  •

  MIT License

  •7•20•0•0•Updated Aug 10, 2025Aug 10, 2025

• axswarm

  Public
  Swarm trajectory planning algorithm implemented in JAX

  Python

  •

  MIT License

  •1•0•0•0•Updated Aug 1, 2025Aug 1, 2025

• rigeo

  Public
  Rigid body geometry and density realizable inertial parameters.

  Python

  •

  MIT License

  •0•4•0•0•Updated Jul 25, 2025Jul 25, 2025

• upright

  Public
  [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

  controlroboticsplanning+ 2mpcmobile-manipulation

  Python

  •

  MIT License

  •10•111•0•0•Updated Jul 24, 2025Jul 24, 2025

• ocs2

  Public
  Optimal Control for Switched Systems

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •265•5•0•0•Updated Jul 24, 2025Jul 24, 2025

• crazyswarm

  Public
  A Large Quadcopter Swarm

  Python

  •

  MIT License

  •358•0•0•0•Updated Jul 22, 2025Jul 22, 2025

• AMSwarmPy

  Public
  New version of AMSwarm for Swarm GPT

  C++

  •

  MIT License

  •1•0•0•0•Updated Jul 14, 2025Jul 14, 2025

• lsy_drone_racing

  Public
  Autonomous drone racing course @ LSY

  Python

  •

  MIT License

  •41•36•1•0•Updated Jun 27, 2025Jun 27, 2025

• mimo_fmpc_socp

  Public
  Python

  •

  MIT License

  •0•0•0•0•Updated May 31, 2025May 31, 2025

• motion_capture_tracking

  Public
  ROS Package for different motion capture systems, including custom rigid body tracking support

  C++

  •

  MIT License

  •34•0•0•0•Updated May 7, 2025May 7, 2025

• force_push

  Public
  [RA-L 2024] Quasistatic robotic planar pushing with single-point contact using force feedback.

  controlroboticspushing+ 1mobile-manipulation

  Python

  •

  MIT License

  •0•10•0•0•Updated Mar 26, 2025Mar 26, 2025

• cautious-lamp

  Public archive
  Python

  •0•0•0•0•Updated Jan 23, 2025Jan 23, 2025

• crazyflie_docs

  Public
  Documentation of all Crazyflie projects and routines at LSY

  0•1•0•0•Updated Nov 23, 2024Nov 23, 2024

• mm_gazebo

  Public archive
  Gazebo interface for mobile manipulator code.

  Python

  •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024

• mm_diff_ik

  Public archive
  Controller code and utilities for the Thing mobile manipulator.

  Python

  •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024

• pycffirmware

  Public
  Python module wrapping control and state estimation loops of the Crazyflie firmware for Ubuntu, macOS, and Windows

  C

  •

  GNU General Public License v3.0

  •3•6•1•1•Updated Nov 12, 2024Nov 12, 2024

• code-release

  Public
  A repository analyzing the impact of open-source code in machine learning, robotics, and controls research

  open-sourceroboticsreproducible-research+ 1control-systems

  Python

  •0•11•0•0•Updated Sep 11, 2024Sep 11, 2024

• AMSwarmX

  Public
  C++

  •

  MIT License

  •4•44•0•0•Updated Jun 10, 2024Jun 10, 2024

• util-uwb-dataset

  Public
  The UTIAS UWB dataset and data parsing scripts.

  Python

  •3•44•2•0•Updated Apr 14, 2024Apr 14, 2024

• utias_ra_loc

  Public
  0•1•0•0•Updated Dec 3, 2023Dec 3, 2023