Real-time behaviour synthesis with MuJoCo, using Predictive Control

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Model-predictive control for microcontrollers

Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, Theta*, JPS, D*, LPA*, D* Lite, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, Voronoi, PID, LQR, MPC, APF, DWA, Bezier, B-spline, Dubins, Reeds-Shepp etc.

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

Simulation platform for autonomous vehicle motion planning and control

iterative Linear Quadratic Regulator with constraints.

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

Autonomous Vehicle modelling using MATLAB and Simulink

Code for the paper Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization

Master's Thesis Project: Design, Development, Modelling and Simulating of a Y6 Multi-Rotor UAV, Imlementing Control Schemes such as Proportional Integral Derivative Control, Linear Quadratic Gaussian Control and Model Predictive Control on a BeagleBone Blue

mpc and wbc for mini cheetah in pybullet

This repository contains classwork and practice examples based on Model Predictive Control. Robust and Stochastic control methods applied to and studied for linear/non-linear plants.

Model Predictive Controller tested on Carla simulator on Race track with reference velocity.

This repository contains different aspects of autonomous mobile robots including motion, control, and estimation. PID, LQR, and MPC controllers for differential drive robot are developed with ROS2. In addition, some filters are covered such as particle filter and ekf for localization.

MODEL PREDICTIVE CONTROL (MPC) CONTROL BASED ON THE QUASI-MIN-MAX ALGORITHM WITH RELAXATION IN LMIS

Differential Dynamic Programming (DDP) with automatic symbolic differentiation