optimal-control

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open-spaced-repetition /fsrs4anki

Star3.7k

A modern Anki custom scheduling based on Free Spaced Repetition Scheduler algorithm

machine-learning reinforcement-learning deep-learning memory spaced-repetition srs anki optimal-control anki-addon spaced-repetition-algorithm intelligent-tutoring-system fsrs

UpdatedNov 11, 2025
Jupyter Notebook

casadi /casadi

Star2.1k

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 or Matlab/Octave.

python c-plus-plus library modular optimization matlab mathematics nonlinear octave numerical-calculations scientific-computing derivatives code-generation parameter-estimation academic-project optimal-control symbolic-manipulation algorithmic-differentation nonlinear-programming

UpdatedNov 11, 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++

rst-tu-dortmund /teb_local_planner

Star1.2k

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

navigation path-planning ros mobile-robots trajectory-optimization optimal-control

UpdatedNov 10, 2024
C++

leggedrobotics /ocs2

Star1.2k

Optimal Control for Switched Systems

control robotics mpc optimal-control

UpdatedOct 19, 2023
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 25, 2025
C++

pantor /ruckig

Star1.1k

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

robotics motion-planning trajectory-generation optimal-control robot-arm jerk-constrained time-optimal

UpdatedJul 12, 2025
C++

eleurent /phd-bibliography

Star971

References on Optimal Control, Reinforcement Learning and Motion Planning

reinforcement-learning bibliography motion-planning optimal-control robust-control

UpdatedFeb 26, 2022

Shunichi09 /PythonLinearNonlinearControl

Star959

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

Geonhee-LEE /mpc_ros

Sponsor

Star927

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

planner navigation simulation ros mpc path-tracking optimal-control collision-avoidance trajectory trajectory-tracking ipopt unicycle gazebo-simulation

UpdatedMay 18, 2023
C++

LeCAR-Lab /dial-mpc

Star893

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

mpc optimal-control diffusion humanoid legged-robots quadruped online-control sampling-based-control

UpdatedMay 28, 2025
Python

giaf /hpipm

Star655

High-performance interior-point-method QP and QCQP solvers

high-performance optimal-control interior-point-method

UpdatedSep 24, 2025
C

juanmanzanero /fastest-lap

Sponsor

Star614

Fastest-lap is a vehicle dynamics simulator. It can be used to understand vehicle dynamics, to learn about driving techniques, to design car prototypes, or just for fun!

python simulator formula1 racing cpp dynamics modeling vehicle circuit optimal-control racecar ipopt motogp