A differentiable underwater vehicle dynamics in body and ned(euler & quaternion).

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

Neural Networks with CasADi

Reinforcement Learning with Model Predictive Control

Nonlinear Progamming with CasADi

Casadi-based MPC implemented for acceleration based control, complete with a ROS Interface and polygonal SDFs for generalization.

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

Collocation methods for trajectory optimization for second or higher order systems.

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

Version 2.0 of Kineverse, a framework for modeling kinematics for robotic manipulation and control.

easy-peasy optimal flight trajectory

Model Predictive Control on vehicles

Cocofest is an optimal control python package for functional electrical stimulation models

Nonlinear Model Predictive Control for Quadrotor

Spatial transformation library for CasADi Python.

Cocofest is an optimal control python package for functional electrical stimulation models

This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️ ✈️

A class to integrate ordinary differential equations using cvodes

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!