This repository has the code for the model predictive controller (MPC) for UAV obstacle avoidance tasks in the presence of a wind field. Casadi framework and Matlab simulation environment have been used for this this task. DeepXDE has been used to generate the wind fields.

Learning efficient goal-conditioned policies by imitating optimal trajectories

Cocofest is an optimal control python package for functional electrical stimulation models

Reinforcement Learning with Model Predictive Control

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

A C++ implementation of MPC framework for the humanoids using iLQR to solve the optimal control problem, leveraging the Pinocchio-Casadi library for efficient rigid body dynamics and analytical derivatives.

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

Version 2.0 of Kineverse, a framework for modeling kinematics for robotic manipulation and control.

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

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

CaΣoS is a nonlinear optimization-oriented sum-of-squares toolbox based on the symbolic framework of CasADi.

This repository is the code for the paper "Glocal trajectory generation and tracking control for autonomous underwater vehicles with optimal coverage sensor networks"

Nonlinear Progamming with CasADi

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

Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.

A modular, GPU-accelerated control system framework for AUV. Features Model Predictive Control (MPC) with CasADi, CUDA-based environment mapping, GPU-accelerated A* path planning, Fossen equations for marine vehicle dynamics, and supports imitation learning by distilling CasADi-based nonlinear MPC models into NN controllers.

A differentiable underwater vehicle dynamics.

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

In this project has been implemented the dynamics of a two-link planar-arm robot with flexible second link, using CasADi library.