A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot

ROS MPC trajectory tracker. Currently only supports diff-drive/skid-steering UGVs.

Fit a partial point cloud with a superquadric

This is MPC (model predictive controller) that can predict steering and throttle to drive in a simulator.

An optimized, easy-to-use functional style motion planning library written in C++. Developed in lab with Prof. Tao Gao at UCLA.

C++/python codes for contact-rich trajectory optimization.

Package for implementation of Model Predictive Control in Autonomous Bots

🏎️ Model Predictive Control (MPC) Project using C++, Eigen, Ipopt and CppAD for the Self-Driving Car Nanodegree at Udacity

A nonlinear model predictive controller for an autonomous vehicle in a simulation environment.

Leopard is a fast, modern implementation of sparse, multifrontal symmetric indefinite matrix factorization.

This is an implementation of an interior-point algorithm with a line-search method for nonlinear optimization. This package contains several subdirectories corresponding to COIN-OR projects. The AUTHORS, LICENSE and README files in each of the subdirectories give more information about these projects.

MPC Project Delivery

Nonlinear Model Predictive Controller ROS2

Obstacle cost and its Jacobian for polygonal robots

MATLAB interface for IPOPT

This is an implementation of an interior-point algorithm with a line-search method for nonlinear optimization. This package contains several subdirectories corresponding to COIN-OR projects. The AUTHORS, LICENSE and README files in each of the subdirectories give more information about these projects.