Starred repositories
Bringing Characters to Life with Computer Brains in Unity
Controlling lateral movement of an ackermann steered vehicle by PD control
An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain
A General-Purpose Trajectory Optimizer for Multicopters
这是我在硕士期间的一部分研究：基于（非线性）模型预测控制的移动机械臂（mobile manipulator）运动规划与控制。计划开源几个最简单的demo实现。
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
easy sample code for minimum snap trajectory planning in MATLAB
A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.
An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.
A curated list of awesome robot descriptions (URDF, MJCF)
ROS node examples with parameter server, dynamic reconfigure, timers, and custom messages for C++ and Python.
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
C++ interface for hpipm, a high-performance interior point MPC solver
Linear Inverted Pendulum Model based bipedal walking
ROS stack with an efficient real-time NMPC for the Crazyflie 2.1
Code to export Acado-based nonlinear model predictive controller for underwater vehicles
MPC implementation for quadrotors using acados
Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit
Fast and embedded solvers for nonlinear optimal control
ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct o…
This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is based on the Casadi Package which is used for numerical optimi…
Control strategies for rotary wing Micro Aerial Vehicles using ROS
A MATLAB implementation of geometric tracking control for a quadrotor UAV on SE(3)
Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.
"Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley" by J. Zeng, P. Kotaru and K. Sreenath https://ieeexplore.ieee.org/document/8815173
Matlab simulation of spring loaded inverted pendulum robots and prismatic leg series elastic robots