Software and Hardware Experiments

Software

1. PBDS - Julia package implementing Pullback Bundle Dynamical Systems, a differential geometric paradigm for real-time policy generation. Developed in collaboration with Andrew Bylard and Marco Pavone during my postdoc at Stanford University, this library provides composed policies in real time (300-500 Hz) for high-DOF robotic systems operating in cluttered environments. The open source code can be found here.


2. GuSTO - Julia package implementing GuSTO, a sequential convex programming paradigm for real-time trajectory optimization. Developed in collaboration with Andrew Bylard, Abhishek Cauligi, Marco Pavone, and Thomas Lew during my postdoc at Stanford University, this library combines ease-of-use with fast computation, providing solutions in real-time for many autonomous systems. The open source code can be found here.


3. SOCP - C++ package implementing indirect shooting methods for optimal control problems, specialized in launch vehicles. This paradigm has been developed during my PhD at Sorbonne Univeristé and ONERA in collaboration with Bruno Hérissé, and can compute optimal solutions for endo-atmospheric rendezvous problems in few milliseconds. A (partial) open source version can be found here.

Hardware Experiments

1. Freeflyer experiments on simulated two-dimensional micro-gravity environments at Stanford University, developed in collaboration in collaboration with Andrew Bylard, Abhishek Cauligi, and Marco Pavone during my postdoc at Stanford University, the video can be found here. In addition, preliminary tests were conducted in late 2021 by NASA aboard the International Space Station, you may find the video here.