mpc-control

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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++

ai-winter /matlab_motion_planning

Star524

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.

motion-planning rrt a-star rrt-star dijkstra ant-colony-optimization voronoi pid-control d-star jump-point-search theta-star informed-rrt-star lqr-controller mpc-control artificial-potential-field rrt-connect dynamic-window-approach

UpdatedApr 3, 2025
MATLAB

anassinator /ilqr

Star420

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

theano cartpole mpc control-systems trajectory-optimization optimal-control ddp dynamics-models auto-differentiation pendulum trajectory-tracking differential-dynamic-programming model-predictive-control non-linear-optimization model-predictive-controller ilqg ilqr mpc-control

UpdatedJun 21, 2022
Python

Pandas-Team /Automatic-Parking

Star380

Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking

python control path-planning self-driving-car autonomous-driving autonomous-vehicles path-tracking model-predictive-control mpc-control 2d-environment parallel-parking autopark automatic-parking autonomous-parking

UpdatedJun 6, 2023
Python

pocketxjl /humanoid-control

Star373

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

humanoid-robots mpc-control humanoid-walking bipedal-robots

UpdatedJan 5, 2025
C++

hanruihua /RDA-planner

Star307

[RA-Letter 2023] RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

robotics navigation optimization motion-planning collision-avoidance mpc-control ir-sim

UpdatedJun 1, 2025
Python

HybridRobotics /NMPC-DCLF-DCBF

Star295

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

matlab nonlinear-optimization quadratic-programming model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions

UpdatedNov 9, 2023
MATLAB

HybridRobotics /MPC-CBF

Star294

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenathhttps://arxiv.org/abs/2007.11718

model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions mpc-cbf control-barrier-functions

UpdatedJan 21, 2022

Bharath2 /iLQR

Star230

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

control robotics dynamics mpc control-systems sympy quadrotor numba trajectory-optimization optimal-control ddp nonlinear-optimization pendulum differential-dynamic-programming model-predictive-controller ilqg ilqr mpc-control vehicle-control sympy-to-numba

UpdatedMay 6, 2025
Python

dasGringuen /assetto_corsa_gym

Star147

Assetto Corsa OpenAI Gym Environment

reinforcement-learning racing openai-gym assetto-corsa learning-from-demonstration gym-environment mpc-control reinforcement-learning-environments racing-simulator

UpdatedAug 2, 2025
Python

xiaoyuyang0901 /Simulation-platform

Star143

Simulation platform for autonomous vehicle motion planning and control

simulink mpc-control carsim

UpdatedJul 17, 2019
MATLAB

Marksman007577 /Autonomous-Drive

Star117

Autonomous Vehicle modelling using MATLAB and Simulink

communication-protocol matlab radar mpc mpc-hc autonomous-driving waypoints v2v adaptive-cruise-control simulink-model cost-function mpc-control cruise-control vehicle-dynamics purepursuit cacc stanley-controller lane-centering-assist

UpdatedMay 10, 2023
MATLAB

kousheekc /nmpc_px4_ros2

Star105

ROS2 package that implements a nonlinear model predictive control (NMPC) pipeline for trajectory tracking for aerial vehicles that use the PX4 Autopilot

ros2 mpc-control acados px4-autopilot

UpdatedFeb 13, 2025
C

GPrathap /motion_planning

Star99

robotics optimization astar-algorithm motion-planning rrt rrt-star gradient optimal-control b-splines teb lqr-controller mpc-control spline-interpolation frenet-serret-frame minimum-snap kinodynamic-planning

UpdatedMay 8, 2023
C++

alexdada555 /Modelling-Simulation-and-Implementation-of-Linear-Control-for-Asymmetric-Multirotor-UAVs

Star80

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

quadcopter multirotor matlab pid mpc beaglebone control-systems beaglebone-blue pid-control control-theory lqr pid-controller model-predictive-control model-predictive-controller lqr-controller lqg mpc-control linear-quadratic-regularization linear-quadratic-estimation lqg-controller

UpdatedAug 11, 2020
MATLAB

priest-yang /Deep-Tracking-Control

Star77

Unofficial implementaton of the paper DTC: Deep Tracking Control

reinforcement-learning motion-planning mpc-control quadruped-robot isaac-gym

UpdatedNov 25, 2024
Python

shiivashaakeri /Data-Driven-Model-Predictive-Control-MPC-with-Stability-and-Robustness-Guarantees

Star73

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.

mpc linear-systems robustness model-predictive-control mpc-control data-driven-control uncertain-system

UpdatedDec 6, 2023
Python

Walid-khaled /autonomous_mobile_robots

Star69

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.

localization particle-filter mobile-robots pid-control kalman-filter lqr extended-kalman-filters pd-controller lqr-controller mpc-control differential-drive-robot trajectory-tracking-mpc lqr-differential-drive