Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
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Updated
Jun 15, 2024 - C++
Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
Generalized Splines for Motion Optimization in C++ and python3
Time-minimal smooth stop for collaborative robotics with python bindings
Library for generating time-optimal trajectories for FRC robots. Used by the HelixNavigator path planning app.
Generalized Splines for Motion Optimization in C++ and python3
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
A lightweight learning-based trajectory optimization framework.
Decentralized Multiagent Trajectory Planner Robust to Communication Delay
Extensible Optimization Framework
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
3D Trajectory Planner in Unknown Environments
Polynomial trajectory generation and optimization, part of the "mrs_uav_core".
ILQR (Iterative Linear Quadratic Regulator)
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)
Visualization based on a mathimatical paper.
The control_box_rst package provides C++ libraries for predictive control, direct optimal control, optimization and simulation.
[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
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