Learning based Model Prodictive Control for online iterative trajectory optimization for F1/10 autonomous racing.

General Optimal control Problem Solver (GOPS), an easy-to-use PyTorch reinforcement learning solver package for industrial control.

MPC with Gaussian Process

Code to implement efficient spatio-temporal Gaussian Process regression via iterative Kalman Filtering. KF is used to resolve the temporal part of the space-time process while, standard GP regressi…

Short example of MPC and specifically stochastic MPC (SMPC) with chance constraints for Matlab.

Basic Machine Learning and Deep Learning

Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.

[IEEE T-PAMI 2024] All you need for End-to-end Autonomous Driving

This GitHub repository implements two Model Predictive Control (MPC) approaches for active front steering systems in autonomous vehicles. The methods are inspired by groundbreaking scientific paper…

VorteX AUV

A simple robust MPC for linear systems with model mismatch: Balancing conservatism vs computational complexity

Implement SLS MPC for linear systems subject to polytopic model uncertainty and additive disturbances.

Python sample codes for robotics algorithms.

MATLAB sample codes for mobile robot navigation

MATLAB LMPC implementation for a double integrator system

This is the MATLAB code for tube robust MPC with uncertainty quantification

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

Code for the book

《Hello 算法》：动画图解、一键运行的数据结构与算法教程。支持 Python, Java, C++, C, C#, JS, Go, Swift, Rust, Ruby, Kotlin, TS, Dart 代码。简体版和繁体版同步更新，English version ongoing

Image Processing MATLAB Codes, Simulink, GUI, and Standalone Applications

This is a list of awesome demos, tutorials, utilities and overall resources for the robotics community that use MATLAB and Simulink.

Numerical examples of the solutions of the examples of the paper "Static Balancing of Planar and Spatial Serial Chains with Virtual Transmissions"

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

References on Optimal Control, Reinforcement Learning and Motion Planning

Worm Gear drive modelling and optimization

A code I wrote as part of my undergraduate studies at Saint Martin's University in Lacey, WA. This code is written in Matlab and takes a desired gear ratio, material properties and size constraints…

TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.