Optimal Control for Switched Systems

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

MOO - Modelica / Model Optimizer

A Multi-Agent Solving Library

Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.

Plan Time-Optimal Trajectory under $n$th-Order Box-Constraints

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

libmpc++ is a C++ header-only library to solve linear and non-linear MPC

Solve optimal control problems for musculoskeletal models using OpenSim and direct collocation.

A C++ software to solve general Optimal Control Problems

a High-Performance Distributed Solver for Large-Scale Markov Decision Processes (MDP) relying on Inexact Policy Iteration; for Python and C++

ILQR (Iterative Linear Quadratic Regulator)

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

Generalized Splines for Motion Optimization in C++ and python3

Time-minimal smooth stop for collaborative robotics with python bindings

BiC-MPPI: Goal-Pursuing, Sampling-Based Bidirectional Rollout Clustering Path Integral for Trajectory Optimization

Benchmarking Distributed Inexact Policy Iteration for Large-Scale Markov Decision Processes