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.
cpp unity simulation parallel-computing cuda path-planning mpc control-systems autonomous-vehicles occupancy-grid-map imitation v-model casadi a-star-path-finding fossen-equations
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Updated
Aug 18, 2025 - C++