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This MATLAB-based repository contains implementations of quadrotor control systems, path planning, and trajectory optimization algorithms developed as part of an advanced robotics course at the University of Pennsylvania. It includes PD controllers, path planning via Dijkstra and A* algorithms, and trajectory optimization (minimum snap/acceleration). Run code: change trajectories in file control/runsim.m and run. See quadrotor_dynamics.pdf for dynamic modeling of the quadrotor. See control/controller.m for implementation of the PD controller. Visualization below. Desired (blue) vs Actual (red).

This library contains several of user material subroutines for implicit quasi-static (UMAT) and explicit dynamic (VUMAT) versions of the Abaqus solver. The project web site: http://abumpack.sf.net. The Abaqus is a proprietary finite element (FE) code ( http://www.3ds.com/products-services/simulia/products/abaqus/). Users can write subroutines for use with the Abaqus. Linear elastic, isotropic hardening plasticity, Gurson-Tvergaard-Needleman (GTN), Rousselier constitutive models are provided. Quote this code as: A. Shterenlikht, N. A. Alexander, Levenberg-Marquardt vs Powell's dogleg method for Gurson-Tvergaard-Needleman plasticity model, Computer Methods in Applied Mechanics and Engineering 237-240:1-9 (2012). ...