model-predictive-control

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ai-winter /ros_motion_planning

Star3.2k

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.

robotics astar motion-planning rrt path-planning ros rrt-star voronoi autonomous-vehicles path-tracking jump-point-search ros-navigation model-predictive-control trajectory-planning pure-pursuit artificial-potential-field dstar-lite lpa-star

UpdatedApr 7, 2025
C++

osqp /osqp

Star2k

The Operator Splitting QP Solver

machine-learning control optimization svm solver lasso portfolio-optimization numerical-optimization quadratic-programming convex-optimization model-predictive-control

UpdatedOct 26, 2025
C

ethz-adrl /control-toolbox

Star1.6k

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

cpp robotics automatic-differentiation control-systems trajectory-optimization optimal-control model-predictive-control rigid-body-dynamics lqr-controller extended-kalman-filter ilqg ilqr disturbance-observer multiple-shooting riccati-solver

UpdatedNov 9, 2022
C++

google-deepmind /mujoco_mpc

Star1.5k

Real-time behaviour synthesis with MuJoCo, using Predictive Control

mpc model-predictive-control mujoco mpc-control predictive-control motor-control

UpdatedOct 22, 2025
C++

acados /acados

Star1.1k

Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control

real-time embedded control simulation optimization high-performance solver nonlinear optimal simulink differential-dynamic-programming model-predictive-control nonlinear-control differentiable-programming moving-horizon-estimation

UpdatedNov 4, 2025
C

loco-3d /crocoddyl

Star1.1k

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

robotics conda motion-planning ros code-generation trajectory-optimization optimal-control differential-dynamic-programming legged-robotics model-predictive-control crocoddyl

UpdatedNov 4, 2025
C++

Shunichi09 /PythonLinearNonlinearControl

Star956

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

reinforcement-learning mpc optimal-control ddp cem model-predictive-control model-based-rl nmpc nonlinear-control ilqr linear-control mppi

UpdatedAug 23, 2021
Python

TinyMPC /TinyMPC

Star931

Model-predictive control for microcontrollers

microcontroller embedded solver model-predictive-control admm-algorithm

UpdatedNov 5, 2025
C++

ai-winter /python_motion_planning

Star902

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

motion-planning rrt path-planning a-star rrt-star dijkstra voronoi autonomous-vehicles path-tracking bezier-curve d-star-lite d-star jump-point-search model-predictive-control theta-star informed-rrt-star trajectory-planning dubins-curve artificial-potential-field rrt-connect

UpdatedOct 17, 2025
Python

rst-tu-dortmund /mpc_local_planner

Star631

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control

UpdatedNov 29, 2022
C++

UM-ARM-Lab /pytorch_mppi

Star621

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

pytorch controls model-predictive-control mppi approximate-dynamics

UpdatedNov 14, 2024
Python

alphaville /optimization-engine

Star586

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

python rust code-generator robotics solver embedded-systems mpc code-generation rust-library optimal-control matlab-toolbox nonlinear-optimization rust-crate model-predictive-control nmpc embedded-optimization nonlinear-model-predictive-control nonconvex solver-library nonconvex-optimization

UpdatedNov 3, 2025
Rust

FilippoAiraldi /mpc-reinforcement-learning

Star565

Reinforcement Learning with Model Predictive Control

reinforcement-learning optimization model-predictive-control casadi

UpdatedNov 3, 2025
Python

HiroIshida /robust-tube-mpc

Star551

Example implementation for robust model predictive control using tube

robust tube model-predictive-control convex

UpdatedJan 29, 2021
MATLAB

MizuhoAOKI /python_simple_mppi

Star493

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

python control animation path-integral cartpole mpc autonomous-driving autonomous-vehicles path-tracking pendulum model-predictive-control nmpc stochastic-optimal-control nonlinear-model-predictive-control mppi sampling-based-planning