CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight

Robo Delivery Simulator

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated

Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.

ROS package for efficient autonomous navigation of AGVs in complex, unknown, cluttered environments

Visualization tools for easier rviz plotting.

Repository for multi-robot collision avoidance using the Velocity Obstacle.

Continuous CBS - a modification of conflict based search algorithm, that allows to perform actions (move, wait) of arbitrary duration. Timeline is not discretized, i.e. is continuous.

A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation

This is a Tutorial on how to use CasADi with CPP.

ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit

A Multiplicative Value Function for Safe and Efficient Reinforcement Learning. IROS 2023.

A self driving machine learning algorithm

ROS package for autonomous navigation of AGVs in unknown cluttered environments using MPPI and log-MPPI

The Time Series Visualization Tool that you deserve.

Tips and tricks to optimize your C++ code

Hybrid A* Path Planner for the KTH Research Concept Vehicle

cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control

Online deadlock-free multi-agent trajectory planner using linear safe corridor (LSC)

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

Experimental navigation techniques for ROS robots.

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF,…

Library for Model Based RL

A modular, open and non-proprietary toolkit for core robotic functionalities by harnessing deep learning

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained …