876 skills found · Page 8 of 30
Clark5 / PoseidonA NS-3 implementation of Poseidon congestion control algorithm (NSDI 2023).
gefendioglu / Satellite Attitude Control Master ThesisDesign of Kalman Filter Based Attitude Determination and Control Algorithms for A LEO Satellite
mahaloz / CfgutilsUtility library for analysis of Control Flow Graphs, home to the Basque CFGED algorithm.
karrasailendra / Path Planning GA Behaviour BasedFormation control and obstacle avoidance are two required features for swarm robots to reach an intended goal in an environment with obstacles. Navigation of swarm robots is done using both behavior-based approach and Evolutionary Algorithm (EA) based model.
frank1ma / DDRTC Of UMSsThis paper presents a data-driven control design framework to achieve robust tracking control without exploiting mathematical model of nonlinear underactuated mechanical systems (UMS). The method leverages the differential flatness property of linearized systems and online estimation and compensation of disturbances by active disturbance rejection control (ADRC). The differentially flat output is derived directly from measured data with unknown dynamics and parameters of UMS by the flat output identification (FOID) algorithm. A reduced nominal model of UMS is proposed to simplify the process of finding flat output and trajectory planning. Technique of sparse regression is applied to identify the relationships between flat output and system states, which reduces the order of the well-known extended state observer (ESO) and thereby make the ESO more effective for both trajectory planning and tracking in terms …
epfl-lasa / Control LibrariesA collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.
mathworks-robotics / Templates Robocup Robot Manipulation ChallengeThis GitHub repository contains MATLAB and Simulink utilities and templates to get started developing algorithms for the RoboCup Virtual Robot Manipulation Challenge. The templates include how to control the simulated robot in Gazebo using ROS and how to obtain data from the available robot sensors to be used in perception algorithms.
yllvar / Kalshi Quant TeleBotKalshi Advanced Quantitative Trading Bot is an enterprise-grade automated trading system designed for the Kalshi event-based prediction market. Built with cutting-edge quantitative algorithms and professional risk management, it provides institutional-quality trading capabilities with user-friendly control
AIResearcherHZ / Matlab PPOThis is a MATLAB-based reinforcement learning framework that includes the Proximal Policy Optimization (PPO) algorithm and its multi-agent extension (MAPPO). It supports GPU acceleration and parallel computing, making it suitable for research and engineering applications in control systems.
Xon77 / Live4LifeA spatial performance tool for SuperCollider: 8-track interactive sequencer and micro/macro granulator of a collection of syntheses and samples with pre-defined spatial trajectories and algorithms, mixing channel- and object-based paradigms, including a multichannel effect system, controlled by a GUI and a combination of several interfaces.
gbartyzel / Mobile Robot RlMobile robot control in V-REP using Deep Reinforcement Learning Algorithms.
VikieVik / Arduino PID Line FollowerThis open source codes are to control arduino based line following robot using PID algorithm
rcheng805 / CORE RLCode implementing the CORE-RL algorithm with DDPG, PPO, and TRPO. See the paper "Control Regularization for Reduced Variance Reinforcement Learning" for additional details.
Mingtzge / MiVeCC With DRLThis is a Multi-intersection Vehicular Cooperative Control (MiVeCC) scheme to enable cooperation among vehicles in a 3*3 unsignalized intersections. we proposed a algorithm combined heuristic-rule and two-stage deep reinforcement learning. The heuristic-rule achieves vehicles across the intersections without collisions. Based on the heuristic-rule, DDPG is used to optimize the collaborative control of vehicles and improve the traffic efficiency. Simulation results show that the proposed algorithm can improve travel efficiency at multiple intersections by up to 4.59 times without collision compared with existing methods.
gyani-codes / FOPID Tuner Using GAA fractional order PID controller is tuned using genetic algorithm , to control the speed of DC motor
TheTavakoli1 / PyAI TutorialsPyAI-Tutorials — A comprehensive repository for mastering algorithms, Python, data analysis, and AI. It offers structured code examples, tutorials, and projects to help learners deepen their understanding. Each lesson is organized into separate branches for better clarity and version control. 🚀
BlockchainLabs / SpreadCoinSpreadCoin October 5, 2014 Introduction In proof-of-work cryptocurrencies new coins are generated by the network through the process of mining. One of the purposes of mining is to protect network from double spending attacks and history rewriting. Miners generate new blocks and check contents of the blocks generated by other peers for conformation to the network rules. However, many miners now delegate all the checking work crucial to cryptocurrency security to pools. This means that pool operators do not have any large hashing power but have control over generation of new blocks. This brings unnecessary centralization to otherwise decentralized system. Controlling more than 50% of mining power allows to perform double-spending attacks with 100% chance of success but even with less than 50% control it is possible to perform attacks which have chances to succeed1 . The core idea of SpreadCoin is to prevent creation of pools and thus make mining more decentralized and the whole system more secure. Pool Prevention In pooled mining miners perform only the work which is necessary to fulfill the proof-of-work requirements and pools take care of block generation and broadcasting and distribute reward among miners according to the shares they submit. In this scheme miner has two alternatives: 1. Solo mining. In this case miner cannot send shares to the pool because they will not be accepted. 2. Pooled mining. Miner’s shares will be accepted by the pool but in the case miner will actually generate a new block its reward will go to the pool which will redistribute it to all miners. This allows organization of pools because miners has no way to cheat and steal generated money. To prevent creation of pools we must remove this possibility so that if pool will be created than miner can mine in a pool, submit shares as usual and get reward for them but in the case of actually finding a block miner can send it directly to the network instead of the pool and get full reward for it. In SpreadCoin mining is organized in such way that miner must know the following things: 1. Private key corresponding to the coinbase transaction. 2. Whole block, not only its header. This ensures that miner can broadcast mined block and spend coins generated in that block. It may seem that it is necessary to know only the private key to spend coinbase transaction. If two conflicting transactions will appear on the network then the one that was broadcasted first will have much higher probability to be included in a block because each peer remembers and retransmits only the first one of the conflicting transactions. If both miner and pool know private key but only pool knows the content of the block than pool can generate and broadcast spending transaction earlier than miner. If both miner 1 Double-spending. Bitcoin Wiki. https://en.bitcoin.it/wiki/Double-spending and pool know content of the block than miner will be the first one who can broadcast block and spending transaction. To prove knowledge of the private key and whole block there are two new fields in the block header: MinerSignature and hashWholeBlock. MinerSignature is a digital signature of all fields of the block header except for the hashWholeBlock. Changing any information in the block requires regeneration of this signature which means that it is necessary to recalculate it during each iteration of the mining process. This implies that miner must be able to sign any arbitrary data. hashWholeBlock is a SHA-256 hash of the block data arranged as follows: Padding ensures that there is no incentive to mine empty blocks without transactions. Padding values are computed using simple algorithm which initializes last 32 bytes (8 uint32) with hashPrevBlock and then goes backward and computes remaining uint32 values using the following recursive formula: 𝐼𝑖 = 𝐼𝑖+3 ∙ 𝐼𝑖+7. This algorithm ensures that there is no efficient way to compute padding values on the fly during hash computation which otherwise could potentially give some advantage to mine empty blocks in certain computing environments. It is important that block is hashed twice. If it was hashed only once then pool could hash the beginning of the block and send resulting hash state to the miners. Each miner would then modify some information in the end of the block and recalculate the hash based on the known state without actual knowledge about what is contained in the beginning of the block. Appending block data to itself make it necessary to know the whole block to recalculate hashWholeBlock. Pool may detect and ban cheating miners. However, many miners may still prefer to cheat so that pool will be completely unusable for honest miners. Miners that have low probability of finding a block will get more profit by stealing reward for accidentally found block even if pool will ban them thereafter. Miners that have enough mining power to find blocks consistently can still connect to a pool and submit shares for some time but steal the first found block. This way they can get both reward for their shares and the actual mined block. Given all this it is expected that no one will create a pool. But even if someone will than it can be countered by releasing stealing miner software which many miners will switch to. Compact Transactions SpreadCoin as well as Bitcoin uses ECDSA signatures. Each address in Bitcoin is a hash of an ECDSA public key. To spend coins sent to an address it is necessary to provide public key matching to that hash and a signature. This results in 139 or 107 bytes for each transaction input script (scriptSig) depending on Block Padding MAX_BLOCK_SIZE Block Padding whether compact public key is used. However, it is possible to recover public key from the signature2 which means that it is not necessary to provide it in transaction input. Together with using compact representation of the signature3 it allows to reduce size of transaction input script from 139 or 107 bytes in Bitcoin to 67 bytes in SpreadCoin. Recovering public key has almost no extra CPU cost compared to the usual signature verification process used in Bitcoin. This is important because the CPU cost of ECDSA signature verification is a bottleneck for Bitcoin transaction processing. Usual output script (scriptPubKey) in Bitcoin looks as follows: OP_DUP OP_HASH160 5bd18804e4bb43a4bb8b6bc88408970bafaf4a38 OP_EQUALVERIFY OP_CHECKSIG In SpreadCoin the semantics of the OP_CHECKSIG instruction was changed to checking signature by hash of the public key (it recovers public key and compares its hash with the provided one). This results in a much simpler script in SpreadCoin: 5bd18804e4bb43a4bb8b6bc88408970bafaf4a38 OP_CHECKSIG This results in additional minor space saving because this script is 3 bytes smaller. Smooth Supply Block reward in Bitcoin is computed using the following formula: 𝑅ℎ = 𝑅0 ∙ 2 −⌊ ℎ 𝑝 ⌋ , where ℎ – block height, 𝑝 – reward halving period, 𝑅0 – initial reward, 𝑅ℎ – reward for block ℎ, ⌊ ⌋ – floor function. This method results in abrupt reward changes near halving points. SpreadCoin uses simple linear interpolation between halving points to make reward decrease much smother. This is achieved by modifying reward using the following formula: 𝑅ℎ ′ = 4 3 (𝑅ℎ − 𝑅ℎ ∙ ℎ mod 𝑝 2𝑝 ). SpreadCoin uses 𝑝 = 2 ∙ 106 as its reward halving period. 2 ECDSA Signatures allow recovery of the public key. Bitcoin Forum. https://bitcointalk.org/?topic=6430.0%29%3F 3 Why the signature is always 65 (1+32+32) bytes long? Bitcoin Stack Exchange. https://bitcoin.stackexchange.com/questions/12554/why-the-signature-is-always-65-13232-bytes-long | NO YEAR 2106 PROBLEM The time stamp field in the block header is now 64 bit instead of 32 bit (Bitcoin) so that much farther date times are possible (>Year 2106) Upcoming features that are in development and will be introduced over the next weeks and months: SERVICENODES A servicenode is a node which runs continuously (24/7) on a server and which provides services within the spreadcoin network. You have to pay a collateral to be able to install a servernode (in return your servicenode will earn a steady income). This collateral is determined by a free market price discovery. (No fix collateral. The price is allowed to fluctuate over time.) COMPETITIVE COLLATERAL Furthermore, to introduce a competitive nature to the servicenodes there will only ever be a limited number of allowed servicenodes worldwide. Since the collateral isn't set in stone, but the amount of servicenodes is fixed, the price of a servicenode will be determined by the participants themselves. It is expected that the price will vary widely over time, which exposes it to the same market forces that hashrate and currency value are exposed to too. SERVICE APPS There are a number of decentralized applications that will run on servicenodes. Most likely those apps will include: 1) "Spread the message" (an in-wallet encrypted messaging system, which allows you to send a message to an SPR address) 2) "Spread the Search" (A decentralized search engine that lets the servicenodes crawl and map the entire internet.) . SPREADX11 SpreadX11 is different from plain X11 by introducing a sophisticated pool prevention mechanism. With SpreadX11 every block header contains additional information (MinerSignature and hashWholeBlock). With the help of this information the protocol ensures that the miner of a new block is always also the first one to know the content of the whole block and the private key to spend the coinbase transaction. (contrary to pool mining where the pool operator is the first one to know those things) So when a miner finds a block, he must himself sign and transmit the block to the network (like solo mining), instead of having a pool handle this for him. This effectively prevents pools by making their rules non-enforceable, since any miner in any assumed pool can always just steal the block reward instead of following the rules set up by the pool. COMPACT TRANSACTIONS SpreadCoin uses a more compact representation for signatures in transactions. SpreadCoin as well as Bitcoin uses ECDSA signatures. While bitcoin keeps a copy of the public key of the corresponding signature around, SpreadCoin ommits this by recovering the public key on the fly directly from the signature. This way it is not necessary to keep the public key of every ECDSA signature in the blockchain, so this leads to *smaller transactions and hence a smaller blockchain (at the cost of a few CPU cycles more). (*reduction in size of transaction from 139 or 107 bytes in Bitcoin to 67 bytes in SpreadCoin.) SMOOTH HALVING Unlike Bitcoin, there are no abrupt reward halvings in SpreadCoin. Block reward is smoothly decreasing over time. UNIQUE DESIGN WITH IN-WALLET VANITYGEN One of the first apps to be built into the wallet is the vanity generator (or vanity gen) which allows anyone to create personalised payment addresses. The easy to use wallet lets you search through trillions of payment addresses allowing you to find one or multiple vanity addresses, which are then stored safely along with the private keys on your own computer - and nowhere else. Searching using the vanity gen is probabilistic, so the amount of time required to find your chosen address patterns depends on how complex the pattern is, the speed of your computer, and a little bit of luck. You can use the vanity gen for a bit of fun, to make your address standout from the crowd or to create a link to a brand, business or other organisation. You can even search for addresses that others might be willing to buy from you. SpreadCoin is a new cryptocurrency which is more decentralized than Bitcoin. It prevents centralization of hashing power in pools, which is one of the main concerns of Bitcoin security. SpreadCoin was fairly launched on 29 July 2014, 9:00 UTC with no premine.
hongwang1999 / Shenlan College Control Algorithm深蓝学院控制规划课程控制部分课后作业代码，包括PID控制器、Stanley控制器、LQR控制器、MPC控制器。
IgnacioCarlucho / Double QPIDDouble_QPID as in the article Double Q-PID algorithm for mobile robot control
aryaman-gupta / AUV SimulatorA simulator used to test control algorithms written for an Autonomous Underwater Vehicle
