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

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

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

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

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

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

🐕 Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

A modular and scalable simulation framework for ultra-rapid prototyping of self-adaptive, stochastic and robust Nonlinear Model Predictive Control for Autonomous Vehicle Motion Control

MPC pathtracking implementation with python, solved by PANOC/IPOPT

Undergraduate Thesis “Perception-constrained Visual Servoing Based NMPC for Quadrotor Flight”

NMPC controller for trajectory tracking and obstacle avoidance

MATLAB sample codes for Robotics engineering

Nonlinear Model Predictive Control for Self-Driving Vehicles based on Local Sequential Quadratic Programming by recursively calling ProxQP solver.

Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.