optimal-control

A modern Anki custom scheduling based on Free Spaced Repetition Scheduler algorithm

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

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

Optimal Control for Switched Systems

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

References on Optimal Control, Reinforcement Learning and Motion Planning

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

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

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

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

High-performance interior-point-method QP and QCQP solvers

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!

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

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

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.

A JuMP extension for Stochastic Dual Dynamic Programming

Efficient optimal control solvers for robotic systems.

An intuitive modeling interface for infinite-dimensional optimization problems.