The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Implementation of the real-time MPC based on iLQR in Carla simulator

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

Dynamics, MPC, LQR, etc. One repo to rule them all.

iterative Linear Quadratic Regulator practice

A toolbox for trajectory optimization of dynamical systems

A Julia package for constrained iterative LQR (iLQR)

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

Iterative LQG for a couple of MuJoCo models

GPU-friendly, auto-differentiable LQR solver with JAX.

Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.

Trajectory planning library

This repo contains all the praticals/homeworks assigned during the Reinforcement Learning course held by Prof. Roberto Capobianco at the AI & Robotics Master's Degree at University of Sapienza @ Rome, Italy.

Nav2 controller plugin utilizing Frenet Frames and ILQR

Autonomous racing using ILQR and JAX.

An implementation of model-predictive control algorithms using TensorFlow 2

Differential Dynamic Programming python implementation for a cartpole system

WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch