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1. floating-KinDyn floating-KinDyn Public

   [ICRA 2026] This repository contains code for the paper "Uncertainty-Aware Adaptive Dynamics For Underwater Vehicle–Manipulator Robots"

   Python 2

2. diff_uv diff_uv Public

   A differentiable underwater vehicle dynamics.

   Python 20 5

3. uvms-simulator uvms-simulator Public

   This repository features a ros2_control simulator for the BlueROV Heavy with an attached Reach Alpha 5 manipulator, using Thor Fossen’s methods for underwater vehicle dynamics and Featherstone's al…

   C++ 22 5

4. casadi-on-gpu casadi-on-gpu Public

   turn CasADi generated C code into GPU ready kernels so large batches of function evaluations can run in parallel at high speed [Pytorch compatible].

   Cuda 43 3

5. optimal-control-software-repository optimal-control-software-repository Public

   A curated collection of tools and software packages for optimization and control

   39

6. gbionics/liecasadi gbionics/liecasadi Public

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

   Python 87 9