Stars
Contingency planning for on-road autonomous driving
SWAGGER: Sparse WAypoint Graph Generation for Efficient Routing
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
Including the original ALTRO-iLQR library and Qingpeng's codes to add truck dynamic model and build some test scenarios
Quadratic Regulators (iLQR/LQR) on Probabilistic Branching Trees.
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments(IROS 2025)
Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.
这是一个根据TEB算法写的轨迹优化器算法，用于帮助开发者理解TEB算法，并可利用此代码进行二次开发。
Efficient and Safe Trajectory Planning for Autonomous Agricultural Vehicle Headland Turning in Cluttered Orchard Environments
This project simulates a autonomous parking scenario in a 2D environment using Trajectory Optimization for trajectory planning and control.
This is the code for Voronoi Based Hybrid A* for Tractor-Trailer Systems.
FutuDrive is a modular autonomous driving framework offering practical tools, ready-to-use solutions, and a streamlined workflow for fast development and deployment.
Motion Planning for Autonomous Driving using Model Predictive Control based on CommonRoad Framework.
Motion Planning for Vehicle with Static and Dynamic Obstacle Avoidance using Optimal Based Collision Avoidance (OBCA).
ICRA 2024 | Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps