Real-time behaviour synthesis with MuJoCo, using Predictive Control
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Updated
Nov 26, 2024 - C++
Real-time behaviour synthesis with MuJoCo, using Predictive Control
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
Motion planning and Navigation of AGV/AMR:matlab implementation of Dijkstra, A*, Theta*, JPS, D*, LPA*, D* Lite, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, Voronoi, PID, LQR, MPC, APF, RPP, DWA, DDPG, Bezier, B-spline, Dubins, Reeds-Shepp etc.
Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking
A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: [email protected]
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
The source code of the [RA-Letter] paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments"
iterative Linear Quadratic Regulator with constraints.
Simulation platform for autonomous vehicle motion planning and control
Autonomous Vehicle modelling using MATLAB and Simulink
Assetto Corsa OpenAI Gym Environment
Code for the paper Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization
Master's Thesis Project: Design, Development, Modelling and Simulating of a Y6 Multi-Rotor UAV, Imlementing Control Schemes such as Proportional Integral Derivative Control, Linear Quadratic Gaussian Control and Model Predictive Control on a BeagleBone Blue
This repository contains classwork and practice examples based on Model Predictive Control. Robust and Stochastic control methods applied to and studied for linear/non-linear plants.
This repository contains different aspects of autonomous mobile robots including motion, control, and estimation. PID, LQR, and MPC controllers for differential drive robot are developed with ROS2. In addition, some filters are covered such as particle filter and ekf for localization.
mpc and wbc for mini cheetah in pybullet
Model Predictive Controller tested on Carla simulator on Race track with reference velocity.
J. Berberich, J. Köhler, M. A. Müller and F. Allgöwer, "Data-Driven Model Predictive Control With Stability and Robustness Guarantees," in IEEE Transactions on Automatic Control, vol. 66, no. 4, pp. 1702-1717, April 2021, doi: 10.1109/TAC.2020.3000182.
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