AIS-Bonn / TopiCo
Time-optimal Trajectory Generation and Control
☆124Updated 3 years ago
Related projects ⓘ
Alternatives and complementary repositories for TopiCo
- Time-Optimal Path Following with Bounded Acceleration and Velocity☆127Updated last year
- Time-optimal Trajectory Generation and Control☆95Updated 3 years ago
- Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"☆158Updated 2 years ago
- A bisection algorithm for time-optimal trajectory planning along fully specified paths☆29Updated 3 years ago
- ROS examples for the control toolbox☆34Updated 4 years ago
- The Dynamic Whole-body Locomotion library (DWL)☆85Updated 6 years ago
- Quadruped control architecture☆70Updated 2 years ago
- This is a Tutorial on how to use CasADi with CPP.☆73Updated 3 months ago
- Header-only C++ library containing controllers designed for Lie Groups.☆63Updated last year
- C++ interface for hpipm, a high-performance interior point MPC solver☆90Updated last year
- Motion Planning Templates creates fast, parallel, robot-specific motion planners.☆79Updated 2 years ago
- Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).☆77Updated 3 years ago
- Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023☆179Updated 4 months ago
- Optimal trajectory generation library given equality and inequality constraints (C++/Matlab)☆220Updated 3 years ago
- WoLF: Whole-body Locomotion Framework for quadruped robots☆114Updated last month
- Simplified robot description of the ANYmal B quadrupedal robot.☆78Updated 4 years ago
- ROS stack with an efficient real-time NMPC for the Crazyflie 2.1☆96Updated 4 months ago
- This repository contains C++ files that explain how to implement the Model Predictive Control (MPC) algorithm for linear systems in C++ b…☆62Updated 8 months ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆56Updated 2 years ago
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆85Updated last month
- UDRF model of CASSIE robot☆35Updated 5 years ago
- A versatile and efficient framework for constrained trajectory optimization☆140Updated this week
- Simplified robot description of the ANYmal C quadrupedal robot.☆61Updated last year
- Solver for Algebraic Riccati equation with two ways: iteration based method & eigenvalue decomposition method☆63Updated 6 years ago
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆28Updated 3 years ago
- Code accompanying the paper "Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles" by K. Hauser☆48Updated 4 years ago
- Dynamics, MPC, LQR, etc. One repo to rule them all.☆105Updated last year
- Compliant Joint Toolbox (CJT) for MATLAB and Simulink☆38Updated 2 years ago
- Iterative Regional Inflation by SDP☆165Updated 4 years ago
- Stochastic Trajectory Optimization for Motion Planning (STOMP)☆23Updated last year