Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight

Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning"

Consensus-based Control of Multiple Fixed-wing UAVs Using Distributed Model Predictive Control

Distributed model predictive control for multi-agent point-to-point transitions.

The code for the project Distributed Nonlinear Model Predictive Control (DNMPC) for vehicle platooning