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)

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!

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

"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

nonlinear control optimization tool

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

Type-safe modelling DSL, symbolic transformation, and code generation for solving optimization problems.

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

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

MPC pathtracking implementation with python, solved by PANOC/IPOPT

ROS MPC trajectory tracker. Currently only supports diff-drive/skid-steering UGVs.

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.

A thin IPOPT wrapper for NLPModels

Fit a partial point cloud with a superquadric

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

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

An optimized, easy-to-use functional style motion planning library written in C++. Developed in lab with Prof. Tao Gao at UCLA.

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