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evannsm/README.md

Evanns Morales-Cuadrado · @evannsmc

Robotics & ECE Ph.D student at Georgia Tech · Safe autonomy, nonlinear control, quadrotor UAVs Personal site & portfolio: evannsmc

Here you'll find the code behind my research publications and open-source tools I've built for the robotics and UAV communities.

💫 About Me:

Robotics PhD student at Georgia Tech.

Bachelor of Science in Electrical Engineering with minors in Mathematics and Physics from University of Texas at Arlington.

My robotics work centers around hardware applications (usually on quadrotors) of safe autonomous control algorithms.

Research Interests: Safe Autonomy, Nonlinear Control, Aggressive Quadrotor Control, Reachability Analysis, Reinforcement Learning

Advisor: Dr. Samuel Coogan

🚀 Featured Projects

Project Description
RTD-RAX Runtime-Assurance eXtension of RTD: fast, safe trajectory planning for systems under unknown disturbances. Uses mixed-monotone reachability to certify and repair planned trajectories online, extending Reachability-based Trajectory Design with runtime safety assurance. Project Website
newton_raphson_px4 Research-grade and hardware-tested quadrotor controller using Newton-Raphson optimization with Integral CBFs — published at ACC 2024, IEEE TCST 2025, and IEEE TRO 2025. Project Page
nmpc_acados_px4 Research-grade and hardware-tested 9-state Nonlinear MPC for quadrotors using Acados/QPOASES with full ROS 2 integration. Project Page
vicon4px4 ROS 2 package for Vicon → PX4 EKF fusion; coordinate conversion, full-state relay, adopted by GT's Indoor Flight Lab. Project Page
optitrack4px4 ROS 2 package for OptiTrack → PX4 EKF fusion via NatNet protocol. Project Page
quartoCV Modular CV/résumé template using Quarto + GNU Make with incremental builds and two style variants. Project Page
quarto-gatech-slides Official Georgia Tech-branded RevealJS presentation theme for Quarto, installable in one command. Project Page

💻 Tech Stack:

C++ C LaTeX Python ROS Docker PyTorch OpenCV GitHub%20Actions Markdown Matplotlib NumPy Pandas scikit--learn SciPy Git GitHub Arduino CMake Raspberry%20Pi

📊 GitHub Stats:


Contact Information & Socials:

LinkedIn email

Email address: egm @ gatech (dot) edu

@evannsmc Personal Website: https://evannsmc.com
LinkedIn: linkedin.com/in/evanns-morales

Popular repositories Loading

  1. nmpc_acados_px4 nmpc_acados_px4 Public

    My NMPC controller package for PX4-based Quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).

    Python 7 1

  2. vicon4px4 vicon4px4 Public

    Forked from OPT4SMART/ros2-vicon-receiver

    ROS 2 C++ package for streaming Vicon motion-capture data into the PX4 EKF as external vision. Converts ENU→NED, publishes PX4-compatible VehicleOdometry at a fixed rate, and optionally merges fuse…

    C++ 6

  3. newton_raphson_px4 newton_raphson_px4 Public

    My Newton-Raphson Flow controller package for PX4-based quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).

    Python 4

  4. quartoCV quartoCV Public

    A clean, heavily-commented Quarto + XeLaTeX academic CV template. Single-file design with custom LaTeX commands for consistent two-column formatting. Renders to a dense, professional PDF. Includes …

    Python 2

  5. evannsm evannsm Public

    Robotics PhD student at Georgia Tech's FACTS Lab, where I design provably safe autonomous flight controllers for real quadrotors. My research spans Control Barrier Functions, nonlinear control, an…

    1

  6. Blimp_SimHardware_NR_MPC_FBL_BodyOfWork2024 Blimp_SimHardware_NR_MPC_FBL_BodyOfWork2024 Public

    My body of work on blimp implementing Newton-Raphson Flow, MPC, and Feedback linearization. I did the Newton-Raphson work. My colleagues Luke Baird and Mihir Kasmalkar implemented the other two con…

    Jupyter Notebook 1