DeepakIngole

acados

Fast and embedded solvers for nonlinear optimal control

Actor-critic-with-stability-guarantee

Adaptive-Control

Adaptive control methods developed by Karl Johan Åström and Björn Wittenmark from the 70-80's for industrial use

adaptive-model-predicitive-control-matlab

Adaptive Model Predicitive Control - Matlab

arduino

Process Control Temperature Lab

ardupilot

ArduPlane, ArduCopter, ArduRover source

Arithmetics

Hastlayer-compatible arithmetics package. Includes the .NET implementation of the Unum and Posit number format that can be transformed into specialized hardware with Hastlayer (https://hastlayer.com). On Unum and Posit see: https://posithub.org/.

ballbeam-gym

Ball & beam OpenAI gym environments

Data-Driven-Predictive-Control

Data-Driven Predictive Control

Model-Predictive-Control-4

MPC controllers for temperature regulation of a building. Graded project for the ETH course "Model Predictive Control".

DeepakIngole/Data-Driven-Predictive-Control

Data-Driven Predictive Control

DeepakIngole/Model-Predictive-Control-4

MPC controllers for temperature regulation of a building. Graded project for the ETH course "Model Predictive Control".

DeepakIngole/adaptive-model-predicitive-control-matlab

Adaptive Model Predicitive Control - Matlab

DeepakIngole/berlin-oxford-minicourse-opt-ml-2022

DeepakIngole/CartPoleSimulation

This repository contains CartPole simulator with its GUI, implemented controller (LQR) and generator of random desired position trace. It also contains files to train and test RNN predicting future states of a CartPole.

DeepakIngole/CoCo

DeepakIngole/Cruise-control---Speed-reference-tracking

Animation of a vehicle with cruise control and varying speed reference.

DeepakIngole/gym

A toolkit for developing and comparing reinforcement learning algorithms.

DeepakIngole/kdro

Code for the paper: Kernel Distributionally Robust Optimization

DeepakIngole/Kinematic-bicycle-model---Open-loop-steering-rate

Simulation and animation of a kinematic bicycle model with open loop steering rate making left and right turns.

DeepakIngole/Learning_Robust_MPC

DeepakIngole/LMPC

This repo collets few LMPC examples coded in Python

DeepakIngole/MPC-Project---Trajectory-Generation-Using-MPC-For-High-Speed-Overtaking

In this study model predictive control is applied to a vehicle overtaking slower moving vehicles in a one way, two lane road. A risk map is defined considering the road boundaries, the center of the two lanes, and distance relative to other vehicles. The results of this study found that the vehicle was able to conduct safe lane changes while avoidi

DeepakIngole/mpc_av

Model Predictive Controller for Local Trajectory Generation and Tracking of Autonomus Vehicles

DeepakIngole/mpc_ros

Nonlinear Model Predictive Control on Differential Wheeled Mobile Robot using ROS

DeepakIngole/neuromancer

DeepakIngole/panweihit.github.io

Github Pages template for academic personal websites, forked from mmistakes/minimal-mistakes

DeepakIngole/parodis

This is the official repository to PARODIS, the Matlab PAReto Optimal Model Predictive Control framework for DIstributed Systems.

DeepakIngole/phd-bibliography

References on Optimal Control, Reinforcement Learning and Motion Planning

DeepakIngole/PINNs-based-MPC

We discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods. Physics-informed neural networks (PINNs) are a promising tool to approximate (partial) differential equations. PINNs are not suited for control tasks in their original form since they are not designed to handle variable control actions or variable initial values. We thus present the idea of enhancing PINNs by adding control actions and initial conditions as additional network inputs. The high-dimensional input space is subsequently reduced via a sampling strategy and a zero-hold assumption. This strategy enables the controller design based on a PINN as an approximation of the underlying system dynamics. The additional benefit is that the sensitivities are easily computed via automatic differentiation, thus leading to efficient gradient-based algorithms. Finally, we present our results using our PINN-based MPC to solve a tracking problem for a complex mechanical system, a multi-link manipulator.

DeepakIngole/quadrotor

Quadrotor control, path planning and trajectory optimization

DeepakIngole/reinforcement-learning-an-introduction

Python Implementation of Reinforcement Learning: An Introduction

DeepakIngole/rlqp

Accelerating Quadratic Optimization with Reinforcement Learning

DeepakIngole/sim_vehicle_dynamics

TUM Roborace Team Software Stack - Vehicle Simulation

DeepakIngole/Truck-platooning---Cut-in-scenario

Simulation and animation of a cut-in scenario between trucks one and two in a four-truck platoon with 1 second time gap.

DeepakIngole/Truck-platooning---String-stability

Animation of a string stable four-truck platooning at 72 km/h with 1 second time gap.

DeepakIngole/TUB_SummerSchool

DeepakIngole/Vehicle-braking-to-a-stop

Animation of a road vehicle braking to a stop with position, speed, acceleration and braking force plots.

DeepakIngole/Vehicle-Dynamics-Lateral

OpenVD: Vehicle Dynamics - Lateral

DeepakIngole/Vehicle-Dynamics-Longitudinal

OpenVD: Vehicle Dynamics - Longitudinal