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RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajectory planning and path planning problems.
Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relative Jacobian formulation.
Extended Kalman Filters Are useful when there is an Non Linearity in the su=ystem and the estimation/prediction and measurement step requires a Jacobian matrix( first Derivative in the Taylor Series) is required to transform and work optimally.
A Kalman Kilter is used to estimate the state of a moving object of interest with noisy lidar and radar measurements. RMSE values are lower than a specified tolerance.
