MPCC

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4Wheel Drive Autonmous Driving

12

Hi, thanks for your work and this repository. I have been seeing papers where MPCC and standard MPC have been compared in racing scenarios. I have not yet seen the...

prajwalthakur

Inquire if GP based MPC code will be open-source

2

Hi Alex, may I ask if you plan to open source the relevant code for the model predictive controller based on Gaussian process regression designed in the paper "Learning Based...

rogueyan5

Lyapunov Based Stability

3

Hi, I wanted to talk about stability in mpcc . I've seen another similar question but curious on why the following two similar papers talk about the stability but not...

prajwalthakur

Hi there. I find it a very interesting idea to achieve good tracking of a predetermined route based on vehicle dynamic and model predictive control algorithm, which eventually transforms the...

JustMrZuo

Possible indexation problem

2

https://github.com/alexliniger/MPCC/blob/302e12a0546221963dc2430477e54a279532c52d/C%2B%2B/MPC/mpc.cpp#L48 I think, there is an indexation problem here in the **fullsize** branch, when we want to get `initial_guess_[i+1]` and i == N, because `initial_guess_` array has only "N+1" elements...

KarasevPavel

Question about Track

5

Hello, Alex! I have a question about track for the fullsize model. I work in the [fork](https://github.com/Bauman-Racing-Team/MPCC.git) of Your rep and already have implemented your **C++** version in **Matlab**, using...

KarasevPavel

Updated the install script and added improvements elsewhere to download cppad(-codegen) and build it. Updated instructions in readme to clarify the possibility of needing to install llvm and/or clang

ckurtz22

Clean up repo and builds

1

Convert libraries in install script to git submodules Build hpipm and blasfeo with cmake Update readme to reflect the changes

ckurtz22

If you are interested in new features, please comment below and also see the poll in the discussion section https://github.com/alexliniger/MPCC/discussions/78 Note I already added a new way to add the...

alexliniger

Add python

2

The implementation is far from perfect (obviously the behaviour is different from your work), but added python version. I have an interest in comparing NMPC and RL algorithms and thought...

Chachay