acados

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

ROS2 package that implements a nonlinear model predictive control (NMPC) pipeline for trajectory tracking for aerial vehicles that use the PX4 Autopilot

ROS stack with an efficient real-time NMPC for the Crazyflie 2.1

A distributed whole-body model predictive control for quadruped robots

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

Model Predictive Control for Quadrotor using acados

Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.

Vehicle dynamics with a sophisticated friction model and drive-train model that can be used to augment any multi-body simulation (such as Gazebo) involving vehicles.

Standalone Implementation of Predictive Admittance Control for Aerial Physical Interaction Control in Python with Acados and MuJoCo.

Model Predictive Controller for a quadcopter model using Acados nlp optimization

Ros2 vendor for the Acados NMPC solver.

C++ wrapper to dynamically run C code generated by ACADOS

Research code behind custom SAC, NMPC, VAEs and other stuff for machine-learning based autonomous ship trajectory planning. Developed as part of the Autoship Centre for Research-based Innovation (SFI). Open sourced in November 2025.

This docker has Acados, Casadi, neural mpc and ROS Noetic for NVIDIA Jetson. It has been tested on a Jetson Nano and Jetson Orin NX

Code of the IV2025 paper "Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers" Author: Oliver Schumann

Decentralized Tube-Based Model Predictive Controller. Master Thesis project 2024

Objected Oriented style wrapper around AcadosOcp and AcadosSim in C++

Docker file of ML-Casadi, acados and ROS

Open-source compiler from JAX-trained robotics to Arm-based silicon, with signed attestation manifests.