Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

A platform for reproducible world model research and evaluation

The Operator Splitting QP Solver

Real-time behaviour synthesis with MuJoCo, using Predictive Control

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control

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

Model-predictive control for microcontrollers, ICRA 2024 Best Paper Award

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

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

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

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

A Minimalist, Batteries-included Repository for Advancing World Model Science.

Reinforcement Learning with Model Predictive Control

emhass: Energy Management for Home Assistant, is a Python module designed to optimize your home energy interfacing with Home Assistant.

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.

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

Example implementation for robust model predictive control using tube

Open-source wheeled biped robots

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models