Pre-released Controlå Pragram

Supporting:

Estimator:

(1) FGO-based FakeGPS + IMU (pose, velocity, bias, gravity rotation)

Controller:

(1) Differential-Flatness-Based Control (PID)

(2) FGO-based MPC

(3) Uncerntainty-aware MPC

(4) Joined Positioning and Control Model (testing)

Dependence:

Gtsam-4.0.3