model-predictive-control

There are 351 repositories under model-predictive-control topic.

  • ros_motion_planning

    ai-winter/ros_motion_planning

    Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

    Language:C++3.2k2096482

  • osqp/osqp

    The Operator Splitting QP Solver

    Language:C2k42382389
  • control-toolbox

    ethz-adrl/control-toolbox

    The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

    Language:C++1.6k41139334

  • google-deepmind/mujoco_mpc

    Real-time behaviour synthesis with MuJoCo, using Predictive Control

    Language:C++1.5k24133237

  • acados/acados

    Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control

    Language:C1.1k23357306

  • loco-3d/crocoddyl

    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

    Language:C++1.1k23857200

  • Shunichi09/PythonLinearNonlinearControl

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

    Language:Python956135180
  • TinyMPC

    TinyMPC/TinyMPC

    Model-predictive control for microcontrollers

    Language:C++9312222114

  • ai-winter/python_motion_planning

    Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

    Language:Python906520126

  • rst-tu-dortmund/mpc_local_planner

    The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

    Language:C++6311947146
  • pytorch_mppi

    UM-ARM-Lab/pytorch_mppi

    Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

    Language:Python6228568
  • optimization-engine

    alphaville/optimization-engine

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

    Language:Rust5861316959

  • FilippoAiraldi/mpc-reinforcement-learning

    Reinforcement Learning with Model Predictive Control

    Language:Python5696960

  • HiroIshida/robust-tube-mpc

    Example implementation for robust model predictive control using tube

    Language:MATLAB553622107
  • python_simple_mppi

    MizuhoAOKI/python_simple_mppi

    Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

    Language:Jupyter Notebook49471247

  • davidusb-geek/emhass

    emhass: Energy Management for Home Assistant, is a Python module designed to optimize your home energy interfacing with Home Assistant.

    Language:Python45421281105

  • anassinator/ilqr

    Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

    Language:Python420111183

  • OpenOCL/OpenOCL

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

    Language:MATLAB4031513765
  • Automatic-Parking

    Pandas-Team/Automatic-Parking

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

    Language:Python38041087

  • Hypha-ROS/hypharos_minicar

    1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller

    Language:C++3341116109

  • matssteinweg/Multi-Purpose-MPC

    Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

    Language:Python3226668

  • deng-haoyang/ParNMPC

    A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)

    Language:MATLAB314191284

  • mayataka/robotoc

    Efficient optimal control solvers for robotic systems.

    Language:C++304163255

  • HybridRobotics/NMPC-DCLF-DCBF

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

    Language:MATLAB2958750

  • HybridRobotics/MPC-CBF

    "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

    2943252
  • upkie

    upkie/upkie

    Open-source wheeled biped robots

    Language:Python29286339

  • ccalas/mpc

    Autonomous control of an USV using Model Predictive Control

    Language:MATLAB2426154
  • pymanoid

    stephane-caron/pymanoid

    Humanoid robotics prototyping environment based on OpenRAVE

    Language:Python23114039

  • forgi86/pyMPC

    A Model Predictive Control (MPC) Python library based on the OSQP solver.

    Language:Python2223335
  • nullspace_mpc

    MizuhoAOKI/nullspace_mpc

    Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

    Language:C++21822

  • ACDSLab/MPPI-Generic

    Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

    Language:Cuda21391328
  • hilo-mpc

    hilo-mpc/hilo-mpc

    HILO-MPC is a Python toolbox for easy, flexible and fast development of machine-learning-supported optimal control and estimation problems

    Language:Python18573036

  • HybridRobotics/car-racing

    A toolkit for testing control and planning algorithm for car racing.

    Language:Python1857637
  • mppi_swerve_drive_ros

    MizuhoAOKI/mppi_swerve_drive_ros

    [IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

    Language:C++1799321

  • ohtsukalab/autogenu-jupyter

    An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC

    Language:C++17691839

  • mithi/mpc

    A software pipeline using the Model Predictive Control method to drive a car around a virtual track.

    Language:C++16811367