Software

QuaTorch is a lightweight python package providing Quaternion, a torch.Tensor subclass that represents a Quaternion. It implements common special operations for quaternions such as multiplication, conjugation, inversion, normalization, log, exp, etc. It also supports conversion to/from rotation matrix and axis-angle representation. Convenient utilities are provided together, such as spherical linear interpolation (slerp) and 3D vector rotation.

Dionysos is the software of the ERC project Learning to control (L2C). In view of the Cyber-Physical Revolution, the only sensible way of controlling these complex systems is often by discretizing the different variables, thus transforming the model into a simple combinatorial problem on a finite-state automaton, called an abstraction of this system. The goal of L2C is to transform this approach into an effective, scalable, cutting-edge technology that will address the CPS challenges and unlock their potential. This ambitious goal will be achieved by leveraging powerful tools from Mathematical Engineering.