epoxx-arch's repositories
daily_paper
100+ favorite papers from the fields of robotics, autonomous driving, and related areas, updated continuously.
TinyMPC
Model-predictive control for microcontrollers
ros2-ublox-zedf9p
ROS2 drivers for U-blox ZED F9P
tinympc-matlab
MATLAB interactive interface for TinyMPC
dual-track-koopman
Koopman based MPC of dual track vehicle model. The code was used to create the paper "Predictive approach to torque vectoring based on the Koopman operator"
tailored_mpc
Formula Student Non-linear curvature MPC using embotech FORCESPRO's solver for non linear optimization and CASADI's framework for algorithmic differentiation (included within FORCESPRO) .
multibody-state-estimation
MultiBody Dynamics Estimators: Particle filter and factor-graph estimators
Formula-Student-Driverless-Simulator
A virtual world where Autonomous Systems from different Formula Student teams can compete in time-trial challenges
BayesNewton
Bayes-Newton—A Gaussian process library in JAX, with a unifying view of approximate Bayesian inference as variants of Newton's method.
path_tracking_catalog
25 path-tracking algorithms are (goint to be) implemented with python.
mppi_cbf
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
Radial-basis-TMPC
Learning-based robust tube based MPC of nonlinear systems via difference of convex radial basis functions
python_simple_mppi
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
MPC_vehicleOvertaking
MPC-based vehicle overtaking system
Vehicle-Dynamics-14DOF-Simscape-Multibody
Vehicle dynamics with Simscape Multibody
estimation_algorithms
Implementation of followinf estimation algorithms in python: Kalman Filter, Extended Kalman Filter, Unscented Kalman Filter, Cubature Kalman Filter, Rao-Blackwellized Particle Filter, Cubature Kalman Filter
dynamic_obstacle_avoidance
dynamic obstacle avoidance algorithm for concave and convex obstacles as developped
matplotlib-cpp
Extremely simple yet powerful header-only C++ plotting library built on the popular matplotlib
MBD
multibody models
mpc_python
Python implementation of mpc controller for path tracking
Training-Overtaking-Algorithm
This repository has code of how to train a RNN that can perform overtaking in F1TENTH simulator as well as a dataset I have created
Racing-MPC-CBF
This one provides a toolkit to test control and planning problems for car racing simulation environment
MPC-CBF-py
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a mobile robot.
ml-casadi
Use PyTorch Models with CasADi and Acados
path_optimizer_ilqr
Path planning for autonomous vehicles using constrained iLQR.
pympc_panoc_ipopt
MPC pathtracking implementation with python, solved by PANOC/IPOPT
Racing-LMPC-ROS2
C++ ROS2 packages that implement learning model predictive control for real-world autonomous race cars.
simple_casadi_mpc
C++ mpc casadi examples
Model-Predictive-Control
Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit