An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
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Nov 10, 2024 - C++
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optimal-control
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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.
python c-plus-plus library modular optimization matlab mathematics nonlinear octave numerical-calculations scientific-computing derivatives code-generation parameter-estimation academic-project optimal-control symbolic-manipulation algorithmic-differentation nonlinear-programming
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Dec 16, 2025 - C++
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
cpp robotics automatic-differentiation control-systems trajectory-optimization optimal-control model-predictive-control rigid-body-dynamics lqr-controller extended-kalman-filter ilqg ilqr disturbance-observer multiple-shooting riccati-solver
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Nov 9, 2022 - C++
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
robotics motion-planning trajectory-generation optimal-control robot-arm jerk-constrained time-optimal
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Jul 12, 2025 - C++
References on Optimal Control, Reinforcement Learning and Motion Planning
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Feb 26, 2022
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
robotics conda motion-planning ros code-generation trajectory-optimization optimal-control differential-dynamic-programming legged-robotics model-predictive-control crocoddyl
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Dec 16, 2025 - C++
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
reinforcement-learning mpc optimal-control ddp cem model-predictive-control model-based-rl nmpc nonlinear-control ilqr linear-control mppi
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Aug 23, 2021 - Python
Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS
planner navigation simulation ros mpc path-tracking optimal-control collision-avoidance trajectory trajectory-tracking ipopt unicycle gazebo-simulation
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May 18, 2023 - C++
A modern Anki custom scheduling based on Free Spaced Repetition Scheduler algorithm
machine-learning reinforcement-learning deep-learning memory spaced-repetition srs anki optimal-control anki-addon spaced-repetition-algorithm intelligent-tutoring-system fsrs
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Nov 11, 2025 - Jupyter Notebook
High-performance interior-point-method QP and QCQP solvers
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Sep 24, 2025 - C
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
robot mpc optimal-control locomotion humanoid legged-robots humanoid-control bipedal-locomotion-control
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Jan 13, 2025 - C++
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.
mpc optimal-control diffusion humanoid legged-robots quadruped online-control sampling-based-control
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May 28, 2025 - Python
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
theano cartpole mpc control-systems trajectory-optimization optimal-control ddp dynamics-models auto-differentiation pendulum trajectory-tracking differential-dynamic-programming model-predictive-control non-linear-optimization model-predictive-controller ilqg ilqr mpc-control
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Jun 21, 2022 - Python
Extensible Optimization Framework
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Aug 14, 2024 - C++
A JuMP extension for Stochastic Dual Dynamic Programming
optimization julia optimal-control markov-decision-processes jump stochastic-optimization benders-decomposition sddp stochastic-programming markov-decision-process multistage-stochastic-optimization stochastic-integer sddip multistage-stochastic-integer stochastic-dual-dynamic-programming
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Dec 8, 2025 - Julia
Open Source Optimization of Dynamic Multidisciplinary Systems
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Sep 30, 2025 - Python
Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.
machine-learning robotics trajectory-optimization optimal-control numerical-optimization control-theory model-predictive-control
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May 24, 2020 - MATLAB
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
python rust code-generator robotics solver embedded-systems mpc code-generation rust-library optimal-control matlab-toolbox nonlinear-optimization rust-crate model-predictive-control nmpc embedded-optimization nonlinear-model-predictive-control nonconvex solver-library nonconvex-optimization
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Nov 17, 2025 - Rust
Using advanced control and computer vision techniques in an easy way for embedded
c machine-learning embedded-systems pca machinelearning control-systems lapack lda optimal-control computervision mkl systemidentification math-kernel-library
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Oct 21, 2025 - C
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