Python sample codes and textbook for robotics algorithms.
Modular Python tool for parsing, analyzing, and visualizing Global Navigation Satellite Systems (GNSS) data and state estimates
GPS-denied drone navigation layer: optical flow + offline map geo-match + EKF → MAVLink (sim-validated).
High accuracy multi-agent UWB localization for a system of UAVs and UGVs collaborating for accurate positioning in a GPS-denied environment.
Radar and Lidar Sensor Fusion using Simple, Extended, and Unscented Kalman Filter for Object Tracking and State Prediction.
An INS-EKF-ZUPT for Pedestrian Dead Reckoning
Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM
An Intuitive tutorial on Bayesian filtering
Python implementation of an Extended Kalman Filter.
Dual-UAV docking research centered on UWB, AprilTag vision, PX4/MAVLink, and mother-frame relative localization.
The estimated navigation solution is published to ArduPilot through the MAVLink External Navigation interface (VISION_POSITION_ESTIMATE), allowing EKF3 to fuse the companion computer's state estimate.
Lightweight NumPy-only EKF, UKF, Bayesian filtering and Rauch-Tung-Striebel (RTS) smoothing for Python
EKF for sensor fusion of IMU, Wheel Velocities, and GPS data for NCLT dataset
Research Project on Multi-robot Target Tracking via Deep Reinforcement Learning
UWB+IMU fusion using collaborative EKF i.e. sharing data between agents. Continuation of single robot case https://github.com/simutisernestas/rfloc
Sensor fusion between Odometry and Lidar data using an Extended Kalman Filter.
Implementation of several popular Kalman filter nonlinear variants intended for robotics systems and vehicle state estimation, including Extended Kalman Filter, Unscented Kalman Filter, Error State EKF, Invariant EKF, Square Root EKF, Cubature KF.
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