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

Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.

Nyx is a high fidelity, fast, reliable and validated astrodynamics toolkit library written in Rust and available in Python

Library for generating time-optimal trajectories for FRC robots. Used by the HelixNavigator path planning app.

Collocation methods for trajectory optimization for second or higher order systems.

Open Source Optimization of Dynamic Multidisciplinary Systems

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

NN for classical mechanics

This repository includes all the necessary routines to run the CAM optimization with the method described in Pavanello et al. 2024.

NASA's aircraft analysis, design, and optimization tool

Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming by Arthur Richards and Jonathan P. How (10.1109/ACC.2002.1023918)

Quantum Optimal Control with Direct Collocation

iterative Linear Quadratic Regulator with constraints.

Efficient Handling of Trajectories with User Defined Named Components

Successive Convexification with Continuous-Time Constraint Satisfaction

Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.

The front-end user interface for the TRACE-Q simplification algorithm.

Sandbox code for "Tutorial on Ergodic Control @ ICRA 2024"

Python implementation of Trajectory Invariants.