Risk Sensitive EKF

This repository contains the python implementation for the risk-sensitive filter. The core of the implementation is in the folder filters.

Depencies

• odri_control_interface
  • master_board_sdk
    • Boost
    • Eigenpy
• pinocchio
• bullet_utils
  • pybullet
• crocoddyl
• matplotlib
• scipy
• robot_properties_solo
• blmc_controller
• qtm

Authors

• Armand Jordana
• Avadesh Meduri
• Etienne Arlaud

Citing

@article{jordana2023risk,
  title={Risk-Sensitive Extended Kalman Filter},
  author={Jordana, Armand and Meduri, Avadesh and Arlaud, Etienne and Carpentier, Justin and Righetti, Ludovic},
  journal={arXiv preprint arXiv:2305.11573},
  year={2023}
}

Copyrights

Copyright(c) 2019-2023 New York University

License

BSD 3-Clause License