safe_control

Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.

Python★ 291

cbfcontrolmpcmpc-cbfnavigationobstacle-avoidanceqprgb-d

t@tkkim-robot++

quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

C++★ 358

algorithmgaitlocomotionmini-cheetahmitmpcpybulletquadruped

d@Derek-TH-Wang++

optimization-engine

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

Rust★ 642

code-generationcode-generatorembedded-optimizationembedded-systemsmatlab-toolboxmodel-predictive-controlmpcnmpc

a@alphaville++

mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

C++★ 971

collision-avoidancegazebo-simulationipoptmpcnavigationoptimal-controlpath-trackingplanner

g@Geonhee-LEE++

rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion

Python★ 1k

isaac-gymmpcquadrupedreinforcement-learningrobotics

s@silvery107++

ocs2

Optimal Control for Switched Systems

C++★ 1.5k

controlmpcoptimal-controlrobotics

l@leggedrobotics++