A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Reinforcement Learning with Model Predictive Control

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

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

Deep Neural Network architecture as a predictive optimal controller for {HVAC+Solar cell + battery} disturbance afflicted system vs classic Model Predictive Control

This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python

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

Learning-Based Model Predictive Control (LBMPC)

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

This repository contains the source code for “Unscented Kalman filter stochastic nonlinear model predictive control” (UKF-SNMPC).

This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️ ✈️

TROPIC: TRajectory OPtimization In CasADi

The implement for the Quadrotor trajectory tracking using MPC with CasADi library

Julia interface to CasADi via PyCall

Implementing trajectory optimization on bipedal system

easy-peasy optimal flight trajectory

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!