PepMS

eagle-mpc

EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)

eagle_mpc_ros2

ROS2 tools to control a PX4 based multicopter using Model Predictive Control techniques

croco_ipopt

Testing repo to interface IPOPT using Crocoddyl

eagle_mpc_ros

EagleMPC-ROS contains several packages to run EagleMPC within a ROS environment

fbtl_nmpc_experiments

This repo contains instructions and code to reproduce the experiments from the paper in [link]()

.github

Entry gate to the Hidro world

crocoddyl

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

example-robot-data

Set of robot URDFs for benchmarking and developed examples.

hidro_robots

Set of robot models used by HiDRo

motor_dynamics_test

open_robot_actuator_hardware

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

SDP_HierarchicalTaskStability

Matlab files to test the use of SDP in CLIK to impose stability

SDPTrajectoryGeneration

Redundancy control through SDP Lexicographic Optimization - Application to planar manipulator

uam_identification