Repository Index

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 C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

• optimization
• nonlinear
• derivatives
• code-generation

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

• optimal-control
• model-predictive-control
• ilqr
• ilqg

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

• trajectory-generation
• robotics
• jerk-constrained
• time-optimal

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

• ros
• mobile-robots
• navigation
• trajectory-optimization

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

• embedded-optimization
• nonconvex
• model-predictive-control
• rust-library

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

• trajectory-optimization
• differential-dynamic-programming
• theano
• dynamics-models