mpc-control

Real-time behaviour synthesis with MuJoCo, using Predictive Control

Motion planning and Navigation of AGV/AMR：matlab implementation of Dijkstra, A*, Theta*, JPS, D*, LPA*, D* Lite, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, Voronoi, PID, LQR, MPC, APF, RPP, DWA, DDPG, Bezier, B-spline, Dubins, Reeds-Shepp etc.

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

[RA-Letter 2023] RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

Simulation platform for autonomous vehicle motion planning and control

Assetto Corsa OpenAI Gym Environment

Autonomous Vehicle modelling using MATLAB and Simulink

ROS2 package that implements a nonlinear model predictive control (NMPC) pipeline for trajectory tracking for aerial vehicles that use the PX4 Autopilot

Master's Thesis Project: Design, Development, Modelling and Simulating of a Y6 Multi-Rotor UAV, Imlementing Control Schemes such as Proportional Integral Derivative Control, Linear Quadratic Gaussian Control and Model Predictive Control on a BeagleBone Blue

Code for the paper Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization

Unofficial implementaton of the paper DTC: Deep Tracking Control

This repository contains different aspects of autonomous mobile robots including motion, control, and estimation. PID, LQR, and MPC controllers for differential drive robot are developed with ROS2. In addition, some filters are covered such as particle filter and ekf for localization.

J. Berberich, J. Köhler, M. A. Müller and F. Allgöwer, "Data-Driven Model Predictive Control With Stability and Robustness Guarantees," in IEEE Transactions on Automatic Control, vol. 66, no. 4, pp. 1702-1717, April 2021, doi: 10.1109/TAC.2020.3000182.

Differential Dynamic Programming (DDP) with automatic symbolic differentiation