trajectory-optimization

There are 29 repositories under trajectory-optimization topic.

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++ 1356
rst-tu-dortmund / teb_local_planner
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
mobile-robots navigation optimal-control path-planning ros trajectory-optimization
Language:C++ 959
dji-sdk / Onboard-SDK
DJI Onboard SDK Official Repository
dji-sdk onboard-sdk flight-controller dji robotics drone uav sensors lidar trajectory-optimization camera collision-avoidance
Language:C++ 889
faster
mit-acl / faster
3D Trajectory Planner in Unknown Environments
uav autonomous-navigation path-planning trajectory-optimization ground-robot planning drone
Language:C++ 862
ethz-adrl / towr
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
trajectory-optimization legged-robots motion-planning nonlinear-programming ros xpp ifopt ipopt snopt robot biped quadruped collocation physics-based-animation computer-graphics locomotion eigen
Language:C++ 836
yrlu / quadrotor
Quadrotor control, path planning and trajectory optimization
quadrotor pd-controller controller planning path-planning dijstra astar trajectory-optimization trajectory-planning drone unmanned-aerial-vehicle uav
Language:MATLAB 769
ethz-adrl / ifopt
An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
optimization mathematical-programming nlp eigen nonlinear-optimization ipopt snopt catkin ros trajectory-optimization robotics cpp cmake
Language:C++ 727
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++ 694
ZJU-FAST-Lab / GCOPTER
A General-Purpose Trajectory Optimizer for Multicopters
corridor corridors minco motion-planning multicopter navigation quadrotor safe-flight-corridors trajectory-optimization
Language:C++ 630
rst-tu-dortmund / mpc_local_planner
The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
car-like-robots mobile-robots model-predictive-control mpc path-planning ros trajectory-optimization
Language:C++ 516
mit-acl / mader
Trajectory Planner in Multi-Agent and Dynamic Environments
optimization path-planning trajectory-optimization multi-agent obstacle-avoidance minvo mader planner ros
Language:C++ 451
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 342
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 341
ZJU-FAST-Lab / Swarm-Formation
Formation Flight in Dense Environments
swarm motion-planning multi-robot formation-flight aerial-robotics distributed-systems spatial-temporal trajectory-optimization
Language:C++ 336
gtrll / gpmp2
Gaussian Process Motion Planner 2
motion-planning trajectory-optimization gaussian-processes inference robotics
Language:C++ 297
dojo-sim / Dojo.jl
A differentiable physics engine for robotics
simulation robotics motion-planning reinforcement-learning trajectory-optimization locomotion differentiable gradients control system-identification contact friction
Language:Julia 286
zhaohaojie1998 / Grey-Wolf-Optimizer-for-Path-Planning
灰狼优化算法(GWO)路径规划/轨迹规划/轨迹优化、多智能体/多无人机航迹规划
grey-wolf-optimizer gwo path-planning trajectory-optimization uav multi-agent-systems
Language:MATLAB 250
YukunXia / Carla_iLQR_MPC
Implementation of the real-time MPC based on iLQR in Carla simulator
ilqr carla mpc self-driving-car autonomous-vehicles trajectory-optimization jax
Language:Python 232
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++ 231
andyzeng / ikfastpy
Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.
robotics motion-planning inverse-kinematics forward-kinematics trajectory-optimization universal-robots artificial-intelligence openrave ikfast
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
ZJU-FAST-Lab / am_traj
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
robotics quadrotor trajectory-optimization motion-planning
Language:C++ 184
Boyang--Li / Motion-Planning-Course
Motion Planning for Mobile Robots Course
mobilerobots pathplanning trajectory-optimization
Language:C++ 179
ipab-slmc / exotica
Extensible Optimization Framework
exotica ros optimal-control trajectory-optimization motion-solver collision-free
Language:C++ 150
Zhefan-Xu / CERLAB-UAV-Autonomy
[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)
computer-vision path-planning mapping controller exploration inspection navigation unmanned-aerial-vehicle trajectory-optimization
Language:C++ 146
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 144
HybridRobotics / car-racing
A toolkit for testing control and planning algorithm for car racing.
model-predictive-control control-barrier-functions car-racing trajectory-optimization simulation obstacle-avoidance casadi nonlinear-optimization learning optimization-algorithms
Language:Python 142
nyx-space / nyx
Nyx is a high fidelity, fast, reliable and validated astrodynamics toolkit library written in Rust and available in Python
astrodynamics gmat odtk orbit-determination orbital-mechanics python rust space-mission spice stk trajectory-optimization
Language:Rust 132
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 117
liruiw / OMG-Planner
An Optimization-based Motion and Grasp Planner
robotics motion-planning grasping trajectory-optimization chomp
Language:C++ 105
aravindr93 / trajopt
Trajectory optimization algorithms for robotic control.
robotics-control robotics trajectory-optimization mujoco
Language:Python 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 80
HKUST-Aerial-Robotics / TopoTraj
A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
autonomous-navigation uav motion-planning aerial-robotics trajectory-optimization quadrotor
80
IvLabs / biped_trajectory_optimization
Implementing trajectory optimization on bipedal system
trajectory-optimization non-linear-optimization non-linear-dynamics casadi optimal-control biped direct-collocation
Language:Python 80
robot-locomotion / dwl
The Dynamic Whole-body Locomotion library (DWL)
legged-robots motion-planning whole-body-control trajectory-optimization optimization toolbox
Language:C++ 78
philzook58 / FlapPyBird-MPC
Model Predictive Control of a Flappy Bird Clone using Mixed Integer Programming
mixed-integer-programming mip trajectory-optimization pygame cvxpy mpc model-predictive-control flappy-bird
Language:Python 77