Woodstock233
Follow
Stars
Accompanying code for the publication "MPC-Net: A First Principles Guided Policy Search"
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
A Robust and Efficient Trajectory Planner for Quadrotors
🚕 Fast and robust clustering of point clouds generated with a Velodyne sensor.
Fast and embedded solvers for nonlinear optimal control
Optimization-Based Collision Avoidance - a path planner for autonomous navigation
A ROS wrapper for implementing convex decomposition
LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic
A C implementation of Jump Point Search on both 2D and 3D maps
Hybrid A* Path Planner for the KTH Research Concept Vehicle
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
Basic linear algebra subroutines for embedded optimization
High-performance interior-point-method QP and QCQP solvers
Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.
ACADOS example using HPIPM on STM32H7 device (Cortex-M7 @ 480 MHz)
iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems
C ROS2 packages that implement learning model predictive control for real-world autonomous race cars.
Deep RL for MPC control of Quadruped Robot Locomotion
A header only c package for convex decomposition using ellipsoids
differentiable proxy collision checking for robot trajectory optimization.
Quadratic programming solvers in Python with a unified API
Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.