trajectory-optimization

There are 229 repositories under trajectory-optimization topic.

ethz-adrl/control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Language:C++1.6k 45 139334
rst-tu-dortmund/teb_local_planner
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
Language:C++1.2k 43 272579
mit-acl/faster
3D Trajectory Planner in Unknown Environments
Language:C++1.1k 27 53195
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++1.1k 26 847188
yrlu/quadrotor
Quadrotor control, path planning and trajectory optimization
Language:MATLAB1k 22 10297
ZJU-FAST-Lab/GCOPTER
A General-Purpose Trajectory Optimizer for Multicopters
Language:C++1k 23 30182
ethz-adrl/towr
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
Language:C++1k 43 68247
dji-sdk/Onboard-SDK
DJI Onboard SDK Official Repository
Language:C++956 97 721638
ethz-adrl/ifopt
An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
Language:C++833 33 58163
Zhefan-Xu/CERLAB-UAV-Autonomy
[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)
Language:C++629 4 3364
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++618 19 47147
zhaohaojie1998/Grey-Wolf-Optimizer-for-Path-Planning
灰狼优化算法(GWO)路径规划/轨迹规划/轨迹优化、多智能体/多无人机航迹规划
Language:MATLAB597 4 741
mit-acl/mader
Trajectory Planner in Multi-Agent and Dynamic Environments
Language:C++570 14 2089
ZJU-FAST-Lab/Swarm-Formation
Formation Flight in Dense Environments
Language:C++483 11 2976
anassinator/ilqr
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
Language:Python414 12 1182
OpenOCL/OpenOCL
Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.
Language:MATLAB400 16 13764
nyx-space/nyx
Nyx is a high fidelity, fast, reliable and validated astrodynamics toolkit library written in Rust and available in Python
Language:Rust362 11 12629
dojo-sim/Dojo.jl
A differentiable physics engine for robotics
Language:Julia354 7 5231
gtrll/gpmp2
Gaussian Process Motion Planner 2
Language:C++330 19 4398
YukunXia/Carla_iLQR_MPC
Implementation of the real-time MPC based on iLQR in Carla simulator
Language:Python307 6 758
mayataka/robotoc
Efficient optimal control solvers for robotic systems.
Language:C++296 16 3247
LeCAR-Lab/model-based-diffusion
Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.
Language:Python286 5 729
OpenMDAO/dymos
Open Source Optimization of Dynamic Multidisciplinary Systems
Language:Python258 11 50569
ZJU-FAST-Lab/Implicit-SDF-Planner
[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
Language:C++255 14 1023
andyzeng/ikfastpy
Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.
Language:C++249 9 968
Bharath2/iLQR
iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.
Language:Python225 4 543
OpenMDAO/Aviary
NASA's aircraft analysis, design, and optimization tool
Language:Python220 9 283104
UniBwTAS/ccma
Curvature Corrected Moving Average: An accurate and model-free path smoothing algorithm.
Language:Python218 5 310
Boyang--Li/Motion-Planning-Course
Motion Planning for Mobile Robots Course
Language:C++196 6 185
ZJU-FAST-Lab/am_traj
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Language:C++188 10 545
HybridRobotics/car-racing
A toolkit for testing control and planning algorithm for car racing.
Language:Python177 8 632
wanxinjin/Pontryagin-Differentiable-Programming
A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.
Language:Python176 10 424
ipab-slmc/exotica
Extensible Optimization Framework
Language:C++159 46 25770
cmower/optas
OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
Language:Python127 3 6315
liruiw/OMG-Planner
An Optimization-based Motion and Grasp Planner
Language:C++127 9 1728
aravindr93/trajopt
Trajectory optimization algorithms for robotic control.
Language:Python113 6 218

trajectory-optimization

ethz-adrl/control-toolbox

rst-tu-dortmund/teb_local_planner

mit-acl/faster

loco-3d/crocoddyl

yrlu/quadrotor

ZJU-FAST-Lab/GCOPTER

ethz-adrl/towr

dji-sdk/Onboard-SDK

ethz-adrl/ifopt

Zhefan-Xu/CERLAB-UAV-Autonomy

rst-tu-dortmund/mpc_local_planner

zhaohaojie1998/Grey-Wolf-Optimizer-for-Path-Planning

mit-acl/mader

ZJU-FAST-Lab/Swarm-Formation

anassinator/ilqr

OpenOCL/OpenOCL

nyx-space/nyx

dojo-sim/Dojo.jl

gtrll/gpmp2

YukunXia/Carla_iLQR_MPC

mayataka/robotoc

LeCAR-Lab/model-based-diffusion

OpenMDAO/dymos

ZJU-FAST-Lab/Implicit-SDF-Planner

andyzeng/ikfastpy

Bharath2/iLQR

OpenMDAO/Aviary

UniBwTAS/ccma

Boyang--Li/Motion-Planning-Course

ZJU-FAST-Lab/am_traj

HybridRobotics/car-racing

wanxinjin/Pontryagin-Differentiable-Programming

ipab-slmc/exotica

cmower/optas

liruiw/OMG-Planner

aravindr93/trajopt