Software

A list of software libraries I actively develop or have previously contributed to -

TinyMPC

A high-performance, lightweight Model Predictive Control (MPC) solver designed for embedded systems and real-time applications. Optimized for speed and minimal memory footprint.

Website

Github

LFDM

Lower Fidelity Dynamics Models for on-road wheeled vehicles written in C++ and CUDA. Provides fast vehicle dynamics simulation for autonomous vehicle development and testing.

Github

Autonomy Research Testbed

A comprehensive software and hardware platform for developing and testing robot autonomy algorithms in both simulation and reality. Bridges the sim-to-real gap for autonomous systems.

Github