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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, Pure Pursuit etc.
A platform for reproducible world model research and evaluation
The Operator Splitting QP Solver
Learn autonomous driving by building it: Python simulations and an open textbook where the system grows one stage at a time. Swap and compare localization, planning and control algorithms in the same system.
Real-time behaviour synthesis with MuJoCo, using Predictive Control
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
A high-performance, general-purpose toolkit for versatile robotic tasks.
An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC