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22 search results found

Teb_local_planner ⭐ 904

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

Control Toolbox ⭐ 838

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

Crocoddyl ⭐ 624

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Optimal Control for Switched Systems

Fastest Lap ⭐ 512

Fastest-lap is a vehicle dynamics simulator. It can be used to understand vehicle dynamics, to learn about driving techniques, to design car prototypes, or just for fun!

Mpc_ros ⭐ 495

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

Hector_simulation ⭐ 180

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

Exotica ⭐ 142

Extensible Optimization Framework

libmpc++ is a C++ header-only library to solve linear and non-linear MPC

Implementation of SCvx, linear MPC and LQR for trajectory generation and tracking

Ilqg Mujoco ⭐ 44

Iterative LQG for a couple of MuJoCo models

Opensim Moco ⭐ 35

Solve optimal control problems for musculoskeletal models using OpenSim and direct collocation.

Planning and Control Algorithms for Robotics

Motion_planning ⭐ 31

Motion_planning ⭐ 25

Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.

Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.

Control_box_rst ⭐ 16

The control_box_rst package provides C++ libraries for predictive control, direct optimal control, optimization and simulation.

Arduino_unconstrained_mpc_library ⭐ 8

A compact Unconstrained (linear) Model Predictive Control (MPC) library for Teensy4/Arduino system (or any real time embedded system in general)

Eagle Mpc ⭐ 5

EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)

Ros Turtlebot Navigation ⭐ 5

Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.

A C++ software to solve general Optimal Control Problems

Trajopt_de ⭐ 5

Spacecraft trajectory optimization using differential evolution

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