A small collection of Kalman Filters on Lie groups

• UpdatedApr 13, 2023
• C++

Lie theory for robotics

• UpdatedOct 18, 2024
• C++

Optimization for Robotics

• UpdatedNov 3, 2023
• C++

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

• UpdatedMar 12, 2025
• Python

Lie groups and algebra with some quaternions

• UpdatedSep 17, 2024
• Julia

InEKF Localization and Semantic Mapping on the KITTI Dataset

• UpdatedMay 5, 2020
• Python

many powerful tools for studying irreducible representations of SU(n), including making animations of hadron flavor-state multiplets

• UpdatedJul 25, 2021
• Python

Python library for handling geometry in state estimation problems in robotics. It is used to store, manipulate, and apply three-dimensional rotations and transformations and their associated uncertainties.

• UpdatedMar 8, 2023
• Python

Auxiliary platform for the graduate course `Lie Groups and Lie Algebras' (李群李代数).

• UpdatedDec 14, 2019

A python package using machine learning to study symmetry.

• UpdatedSep 14, 2022
• Python

In this repo you can find implementation for Cubic and Quadratic B-splines trajectory generation given poses in R(3) along with B-spline trajectory T(t) generation, of any degree (n) given increments of poses in R(3) and also SO(3) and SE(3) Lie groups.

• UpdatedJan 8, 2023
• MATLAB

dimsym: Geometric and algebraic techniques for differential equations (with modelling applications); Symmetry Determination and Linear Differential Equation Package, mirrored fromhttps://www.latrobe.edu.au/mathematics-and-statistics/research/geometric-and-algebraic-techniques-for-differential-equations/dimsym/

• UpdatedJun 26, 2021

A toolkit that aims to provide several features with regards to special unitary groups, including the generation of matrix representations, decomposition of tensor products and more.

• UpdatedJan 24, 2020
• C

Tracking aggressive trajectories of a quadrotor on SO3/SE3 manifolds using geometric control strategies. Design-oriented project at BITS-PILANI (Goa Campus), 2021.

• UpdatedOct 25, 2021
• MATLAB

Repository for the article "Group Theory in Physics - An Introduction with Mathematica", EPJ Special Topics (2024)

• UpdatedAug 13, 2024
• Mathematica

MRover ROS2 Source Code

• UpdatedMar 16, 2025
• C++

An exercise of Base Lie theory in "State Estimation for Robotics"

• UpdatedJul 21, 2020
• C++

Notes on Lie algebras and their representation theory.

• UpdatedMar 31, 2021
• TeX

Some work on the paper, "Automated Lie-algebraic input space partitioning using first-order two-dimensional cellular automata" by me (Shrohan Mohapatra. (2020, June 5). Automated Lie-algebraic input space partitioning using first-order two-dimensional cellular automata. Zenodo.http://doi.org/10.5281/zenodo.3880404), here in the specific example…

• UpdatedMar 17, 2021
• Mathematica

grg: Computer Algebra System for Differential Geometry, Gravitation and Field Theory, automatically mirrored fromhttps://reduce-algebra.sourceforge.io/grg32/grg32.php

• UpdatedJun 26, 2021