PBDS.jl

Julia implementation of Pullback Bundle Dynamical Systems (PBDS) framework for geometrically-consistent, multi-task reactive control on non-Euclidean robot configuration manifolds and task manifolds.

For more details on the PBDS framework, see:

A. Bylard, R. Bonalli, and M. Pavone, "Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems," 2020. [pdf]

Video Introduction