A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

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

Fastest-lap is a vehicle dynamics simulator. It can be used to understand vehicle dynamics, to learn about driving techniques, to design car prototypes, or just for fun!

nonlinear control optimization tool

Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot

This is MPC (model predictive controller) that can predict steering and throttle to drive in a simulator.

A thin IPOPT wrapper for NLPModels

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

Codes of "Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework"

This repo demonstrates how to build a surrogate (proxy) model by multivariate regressing building energy consumption data (univariate and multivariate) and use (1) Bayesian framework, (2) Pyomo package, (3) Genetic algorithm with local search, and (4) Pymoo package to find optimum design parameters and minimum energy consumption.

Codes for "Balancing Computation Speed and Quality: A Decentralized Motion Planning Method for Cooperative Lane Changes of Connected and Automated Vehicles"

Underactuated double-pendulum (acrobot) on a cart to play with direct optimal control methods

Package for implementation of Model Predictive Control in Autonomous Bots

Fit a partial point cloud with a superquadric

A script for building IPOPT for Android. Prebuilt libraries included in the release section.

The Control and Adaptation with Pre-Dictive Sensitivity Enhancements

Lightweight interfaces for optimisation and numerics: a C++ package manager for ipopt and tinyxml2, plus other numerical methods such as Runge-Kutta schemes