An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
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Updated
Apr 16, 2024 - C++
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS
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.
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
Extensible Optimization Framework
Efficient optimal control solvers for robotic systems.
Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.
Implementation of SCvx, linear MPC and LQR for trajectory generation and tracking
A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)
The control_box_rst package provides C++ libraries for predictive control, direct optimal control, optimization and simulation.
libmpc++ is a C++ header-only library to solve linear and non-linear MPC
A compact Unconstrained (linear) Model Predictive Control (MPC) library for Teensy4/Arduino system (or any real time embedded system in general)
Iterative LQG for a couple of MuJoCo models
Solve optimal control problems for musculoskeletal models using OpenSim and direct collocation.
Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.
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