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

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Use PyTorch Models with CasADi and Acados in Python, C(++) or Matlab

A toolkit for testing control and planning algorithm for car racing.

Reinforcement Learning with Model Predictive Control

This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

Implementing trajectory optimization on bipedal system

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

Learning-Based Model Predictive Control (LBMPC)

Deep Neural Network architecture as a predictive optimal controller for {HVAC+Solar cell + battery} disturbance afflicted system vs classic Model Predictive Control

This repository contains the source code for “Unscented Kalman filter stochastic nonlinear model predictive control” (UKF-SNMPC).

TROPIC: TRajectory OPtimization In CasADi

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️ ✈️

A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation

This repository contains the source code for "Stochastic data-driven model predictive control using Gaussian processes" (SDD-GP-MPC).

ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit

Julia interface to CasADi via PyCall