ipopt topic
mpc_ros
Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS
towr
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
ifopt
An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
fastest-lap
Fastest-lap is a vehicle dynamics simulator. It can be used to understand vehicle dynamics, to learn about driving techniques, to design car prototypes, or just for fun!
NMPC-DCLF-DCBF
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
NLOptControl.jl
nonlinear control optimization tool
MPC-CBF
"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
GA-aided-NMPC-tuning
Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot
Cooperative-Lane-Changes-of-CAVs
Codes for "Balancing Computation Speed and Quality: A Decentralized Motion Planning Method for Cooperative Lane Changes of Connected and Automated Vehicles"
find-superquadric
Fit a partial point cloud with a superquadric