optimal-control

There are 28 repositories under optimal-control topic.

open-spaced-repetition / fsrs4anki
A modern Anki custom scheduling based on Free Spaced Repetition Scheduler algorithm
anki anki-addon deep-learning fsrs intelligent-tutoring-system machine-learning memory optimal-control reinforcement-learning spaced-repetition spaced-repetition-algorithm srs
Language:Jupyter Notebook 2215
casadi / casadi
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.
optimization nonlinear derivatives code-generation numerical-calculations academic-project scientific-computing mathematics symbolic-manipulation parameter-estimation optimal-control modular matlab octave python c-plus-plus library algorithmic-differentation nonlinear-programming
Language:C++ 1560
control-toolbox
ethz-adrl / control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
optimal-control model-predictive-control ilqr ilqg robotics trajectory-optimization lqr-controller control-systems cpp extended-kalman-filter riccati-solver multiple-shooting disturbance-observer automatic-differentiation rigid-body-dynamics
Language:C++ 1366
rst-tu-dortmund / teb_local_planner
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
ros mobile-robots navigation trajectory-optimization optimal-control path-planning
Language:C++ 967
eleurent / phd-bibliography
References on Optimal Control, Reinforcement Learning and Motion Planning
bibliography motion-planning optimal-control reinforcement-learning robust-control
887
Shunichi09 / PythonLinearNonlinearControl
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
optimal-control model-predictive-control linear-control model-based-rl mpc nmpc ilqr mppi cem ddp reinforcement-learning nonlinear-control
Language:Python 818
leggedrobotics / ocs2
Optimal Control for Switched Systems
optimal-control mpc robotics control
Language:C++ 726
loco-3d / 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
optimal-control motion-planning differential-dynamic-programming legged-robotics model-predictive-control code-generation ros conda crocoddyl robotics trajectory-optimization
Language:C++ 706
Geonhee-LEE / mpc_ros
Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS
mpc ros planner unicycle simulation gazebo-simulation trajectory navigation trajectory-tracking ipopt optimal-control path-tracking collision-avoidance
Language:C++ 695
pantor / ruckig
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
trajectory-generation robotics jerk-constrained time-optimal motion-planning robot-arm optimal-control
Language:C++ 595
fastest-lap
juanmanzanero / fastest-lap
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!
formula1 motogp vehicle dynamics racecar simulator racing optimal-control ipopt circuit cpp modeling python
Language:Jupyter Notebook 544
giaf / hpipm
High-performance interior-point-method QP and QCQP solvers
high-performance interior-point-method optimal-control
Language:C 482
optimization-engine
alphaville / optimization-engine
Nonconvex embedded optimization: code generation for fast real-time optimization
embedded-optimization nonconvex model-predictive-control rust-library rust rust-crate nonlinear-optimization nonlinear-model-predictive-control embedded-systems robotics python matlab-toolbox code-generation mpc nmpc code-generator nonconvex-optimization solver solver-library optimal-control
Language:Rust 469
OpenOCL / OpenOCL
Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.
numerical-optimization optimal-control robotics model-predictive-control trajectory-optimization control-theory machine-learning
Language:MATLAB 348
anassinator / ilqr
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
trajectory-optimization differential-dynamic-programming theano dynamics-models auto-differentiation model-predictive-control model-predictive-controller control-systems cartpole pendulum ilqr non-linear-optimization trajectory-tracking ilqg mpc mpc-control ddp optimal-control
Language:Python 345
DRCL-USC / Hector_Simulation
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
humanoid legged-robots locomotion mpc optimal-control robot humanoid-control bipedal-locomotion-control
Language:C++ 290
odow / SDDP.jl
Stochastic Dual Dynamic Programming in Julia
julia sddp optimization stochastic-optimization multistage-stochastic-optimization benders-decomposition optimal-control stochastic-programming jump markov-decision-processes markov-decision-process stochastic-integer sddip multistage-stochastic-integer stochastic-dual-dynamic-programming
Language:Julia 278
mayataka / robotoc
Efficient optimal control solvers for robotic systems.
optimal-control model-predictive-control trajectory-optimization robotics interior-point-method motion-planning mpc switched-systems switching-time-optimization numerical-optimization numerical-optimal-control
Language:C++ 232
infiniteopt / InfiniteOpt.jl
An intuitive modeling interface for infinite-dimensional optimization problems.
optimization julia modeling-language dynamic-programming stochastic-optimization optimal-control pde-constrained-optimization nonlinear-optimization differential-equations measure-theory
Language:Julia 227
DanielMartensson / CControl
Using advanced control and computer vision techniques in an easy way for embedded
c computervision control-systems embedded-systems lapack lda machine-learning machinelearning math-kernel-library mkl optimal-control pca systemidentification
Language:C 205
dymos
OpenMDAO / dymos
Open Source Optimization of Dynamic Multidisciplinary Systems
nasa optimal-control trajectory-optimization pseudospectral openmdao co-design
Language:Python 186
a1600012888 / YOPO-You-Only-Propagate-Once
Code for our nips19 paper: You Only Propagate Once: Accelerating Adversarial Training Via Maximal Principle
deep-learning adversarial-attacks optimization optimal-control
Language:Python 175
moribots / motion_planning
Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.
optimal-control motion-planning cpp ros search-algorithm path-planning
Language:C++ 152
ipab-slmc / exotica
Extensible Optimization Framework
exotica ros optimal-control trajectory-optimization motion-solver collision-free
Language:C++ 150
wanxinjin / Pontryagin-Differentiable-Programming
A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.
differentiable-programming end-to-end-learning inverse-reinforcement-learning learning-control trajectory-optimization motion-planning optimal-control system-identification control-systems dynamical-systems pontryagin-maximum-principle reinforcement-learning reinforcement-learning-environments imitation-learning control-learning trajectory-optimisation
Language:Python 149
EmbersArc / SCpp
Implementation of SCvx, linear MPC and LQR for trajectory generation and tracking
optimal-control rocket spacecraft
Language:C++ 138
math-for-macro
pmichaillat / math-for-macro
Source files of the course "Mathematics for Macroeconomics"
macroeconomics mathematics dynamic-programming differential-equations optimal-control course-material
Language:TeX 125
JuliaFirstOrder / ProximalAlgorithms.jl
Proximal algorithms for nonsmooth optimization in Julia
proximal-algorithms optimization julia nonsmooth-optimization proximal-operators admm machine-learning optimal-control optimization-algorithms proximal-gradient-method numerical-optimization nonlinear-programming
Language:Julia 123
iLQR
Bharath2 / iLQR
iterative Linear Quadratic Regulator with constraints.
mpc ilqr ilqg nonlinear-optimization trajectory-optimization ddp model-predictive-controller numba optimal-control mpc-control dynamics control-systems differential-dynamic-programming pendulum vehicle-control robotics control sympy sympy-to-numba quadrotor
Language:Python 119
maimemo / SSP-MMC
A Stochastic Shortest Path Algorithm for Optimizing Spaced Repetition Scheduling
optimal-control research-paper spaced-repetition spaced-repetition-algorithm
Language:Python 115
nicolapiccinelli / libmpc
libmpc++ is a C++ header-only library to solve linear and non-linear MPC
model-predictive-controller mpc control-systems cpp header-only control-theory cpp20 optimal-control
Language:C++ 110
RLGC-Project / RLGC
An open-source platform for applying Reinforcement Learning for Grid Control (RLGC)
reinforcement-learning power-grids control electrical-engineering optimal-control grid-environment openai-gym grid-control
Language:Jupyter Notebook 104
pronenewbits / Arduino_Constrained_MPC_Library
A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)
mpc model-predictive-control constrained-optimization control teensy arduino cpp controller control-theory optimal-control embedded embedded-systems real-time realtime microcontroller mcu quadratic-programming teensy40
Language:C++ 96
cmower / optas
OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
model-predictive-control optimization python robotics trajectory-optimization task-specification forward-kinematics inverse-kinematics library nonlinear optimal-control planning
Language:Python 89
navigator8972 / pylqr
An implementation of iLQR for trajectory synthesis and control
optimal-control motion-planning
Language:Python 83
pyomeca / bioptim
An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem
biomechanics casadi control direct-collocation direct-multiple-shooting discrete-mechanics forward-simulation moving-horizon-estimation musculoskeletal-model musculoskeletal-simulations optimal-control robotics stochastic-optimal-control dmocc fatigue-dynamics dmoc
Language:Python 83

optimal-control

open-spaced-repetition / fsrs4anki

casadi / casadi

ethz-adrl / control-toolbox

rst-tu-dortmund / teb_local_planner

eleurent / phd-bibliography

Shunichi09 / PythonLinearNonlinearControl

leggedrobotics / ocs2

loco-3d / crocoddyl

Geonhee-LEE / mpc_ros

pantor / ruckig

juanmanzanero / fastest-lap

giaf / hpipm

alphaville / optimization-engine

OpenOCL / OpenOCL

anassinator / ilqr

DRCL-USC / Hector_Simulation

odow / SDDP.jl

mayataka / robotoc

infiniteopt / InfiniteOpt.jl

DanielMartensson / CControl

OpenMDAO / dymos

a1600012888 / YOPO-You-Only-Propagate-Once

moribots / motion_planning

ipab-slmc / exotica

wanxinjin / Pontryagin-Differentiable-Programming

EmbersArc / SCpp

pmichaillat / math-for-macro

JuliaFirstOrder / ProximalAlgorithms.jl

Bharath2 / iLQR

maimemo / SSP-MMC

nicolapiccinelli / libmpc

RLGC-Project / RLGC

pronenewbits / Arduino_Constrained_MPC_Library

cmower / optas

navigator8972 / pylqr

pyomeca / bioptim