JuliaAutonomy

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Julia sample codes for Autonomy, Robotics and Self-Driving Algorithms.

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# JuliaAutonomy
![Linux_CI](https://github.com/ShisatoYano/JuliaAutonomy/workflows/Linux_CI/badge.svg) [![codecov](https://codecov.io/gh/ShisatoYano/JuliaAutonomy/branch/main/graph/badge.svg?token=7UQN0H01OW)](https://codecov.io/gh/ShisatoYano/JuliaAutonomy)  
Julia codes for Autonomy, Robotics and Self-Driving Algorithms.  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/icon.PNG)

# Table of Contents
* [About this repository](#about-this-repository)  
* [How to use](#how-to-use)
* [Requirements](#requirements)  
* [Sample codes](#sample-codes)  
    * [Localization](#localization)  
        * [Particle Filter](#particle-filter)  
        * [Kalman Filter](#kalman-filter)
        * [Reset Process](#reset-process)
    * [SLAM](#slam)
    * [Decision Making](#decision-making)
    * [Parameters Inference](#parameters-inference)
* [License](#license)  
* [Contribution](#contribution)  
* [Author](#author)

# About this repository
This repository is a Julia sample codes collection of Autonomy, Robotics and Self-Driving Algorithms.  
I've been inspired by and referring to the following projects.  
* [LNPR](https://github.com/ryuichiueda/LNPR)  
* [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)

# How to use
1. Clone this repository.  
```git
git clone https://github.com/ShisatoYano/JuliaAutonomy.git
```

2. Install the required packages.  
```julia
julia> include("setup.jl")
julia> Setup.install_packages()
```

3. Execute Julia script in each directory.  
For example,  
```julia
julia> include("src/localization/particle_filter/random_sampling/anime_mcl_rand_samp.jl")
julia> AnimeMclRandSamp.main()
```

4. Add star to this repository, if you like it.

# Requirements
* Julia 1.6.x  
* Plots  
* DataFrames  
* CSV  
* Test  
* StatsPlots
* Statistics
* FreqTables
* NamedArrays
* Distributions
* LinearAlgebra
* StatsBase
* PDMats
* Combinatorics
* SpecialFunctions

# Sample codes
## Localization
### Particle Filter
Monte Carlo Localization by Particle Filter  
considering Random Sampling  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/localization/particle_filter/random_sampling/anime_mcl_rand_samp.gif)

KLD(Kullback-Leibler Divergance) Sampling  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/localization/particle_filter/kld_sampling/anime_kld_mcl.gif)

### Kalman Filter
Localization by Extended Kalman Filter  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/localization/extended_kalman_filter/anime_ekf.gif)

### Reset Process
Adaptive reset MCL for kidnapped robot problem  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/localization/reset_process/adaptive_reset_mcl/anime_adaptive_reset_mcl.gif)

Expansion + Sensor reset MCL for kidnapped robot problem  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/localization/reset_process/expansion_sensor_reset_mcl/anime_expansion_sensor_reset_mcl.gif)

## SLAM
FastSLAM 1.0  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/slam/fast_slam_1/anime_fast_slam_1.gif)

FastSLAM 2.0  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/slam/fast_slam_2/anime_fast_slam_2.gif)

Graph-based SLAM  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/slam/graph_based_slam/est_poses_map_2vars.gif)

## Decision Making
Markov Decision Process  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/decision_making/markov_decision_process/anime_mdp.gif)

Reinforcement Learning  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/decision_making/reinforcement_learning/q_learning/q_learning_after_1.PNG)

Partially Observable Markov Decision Process  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/decision_making/partially_observable_mdp/anime_amdp.gif)

## Parameters Inference
Analyzing mixture model  
![](https://raw.githubusercontent.com/ShisatoYano/JuliaAutonomy/main/src/variational_inference/draw_sensor_dist_K3_t340.png)

# License
MIT

# Contribution
Any contribution is welcome.

# Author
[Shisato Yano](https://github.com/ShisatoYano) ([@4310sy](https://twitter.com/4310sy))

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