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

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

25 path-tracking algorithms are (goint to be) implemented with python.

Model Predictive Path Integral Control (MPPI) with PyTorch

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

Adaptive importance sampling modification to MPPI

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

off-road navigation simulator for benchmarking planning algorithms

SIA - C++/Python library for model-based stochastic estimation and optimal control

A simple and extensible Octave/Matlab library for Model Predictive Path Integral control scheme.

Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.

A gym-like classical control benchmark for evaluating the robustnesses of control and reinforcement learning algorithms.

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

Bayesian Optimization for MPPI Control of Robot Arm Planar Pushing

C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI variants and Multiple Environments