Bharath2 / iLQRView external linksLinks
iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.
☆243May 6, 2025Updated 9 months ago
Alternatives and similar repositories for iLQR
Users that are interested in iLQR are comparing it to the libraries listed below
Sorting:
- ☆281Feb 21, 2020Updated 5 years ago
- Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models☆421Jun 21, 2022Updated 3 years ago
- Implementation of the real-time MPC based on iLQR in Carla simulator☆317Sep 3, 2020Updated 5 years ago
- Autonomous racing using ILQR and JAX.☆37Jun 24, 2024Updated last year
- Path planning for autonomous vehicles using constrained iLQR.☆226Nov 30, 2025Updated 2 months ago
- A parallelized, modern, extendable, single-header, C++11 implementation of the iLQR algorithm.☆29Jul 8, 2020Updated 5 years ago
- For the Paper Local Learning Enabled Iterative Linear Quadratic Regulator for Constrained Trajectory Planning☆48Feb 14, 2022Updated 3 years ago
- This mini project implements a modified version of CILQR presented by "Chen, J., Zhan, W., & Tomizuka, M. (2017, October). Constrained it…☆35Jun 13, 2024Updated last year
- C++/Eigen implementation of iLQR☆118Dec 20, 2018Updated 7 years ago
- Source code of ICRA 2021 paper submission☆38Nov 21, 2020Updated 5 years ago
- Iterative Linear-Quadratic Games!☆183Jun 18, 2025Updated 7 months ago
- C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)☆83Sep 8, 2023Updated 2 years ago
- ☆67Oct 26, 2023Updated 2 years ago
- Source codes of “Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method” publis…☆335May 31, 2023Updated 2 years ago
- Algorithm Implementation of Distributed Potential iterative Linear Quadratic Regulator☆33Mar 7, 2023Updated 2 years ago
- A lightweight differential flatness-based trajectory planner for car-like robots☆463Jun 21, 2023Updated 2 years ago
- iterative Linear Quadratic Regulator practice☆115Aug 17, 2025Updated 5 months ago
- [IROS 2023] FISS+: Efficient and Focused Trajectory Generation and Refinement using Fast Iterative Search and Sampling Strategy☆57Mar 21, 2024Updated last year
- ☆188Mar 6, 2025Updated 11 months ago
- ☆768Nov 24, 2021Updated 4 years ago
- Dynamics, MPC, LQR, etc. One repo to rule them all.☆117Jun 19, 2023Updated 2 years ago
- The repository implements some decision-making and contingency planning (contingency model predictive control) methods.☆140Aug 2, 2025Updated 6 months ago
- An implementation of iLQR for trajectory synthesis and control☆93Feb 27, 2020Updated 5 years ago
- Including the original ALTRO-iLQR library and Qingpeng's codes to add truck dynamic model and build some test scenarios☆11Sep 8, 2022Updated 3 years ago
- ☆10Aug 30, 2023Updated 2 years ago
- Implementation of the paper "Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching".☆174Sep 21, 2020Updated 5 years ago
- Including original ALTRO-iLQR library and my codes to add truck dynamic model and build some L4 test scenarios☆52Sep 8, 2022Updated 3 years ago
- nonlinear solver for the constrained problem☆19Sep 18, 2023Updated 2 years ago
- ☆13Oct 25, 2024Updated last year
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆159Sep 22, 2022Updated 3 years ago
- Implementation of the paper "Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor".☆227Sep 21, 2020Updated 5 years ago
- Project for 16-748 implementing CILQR for real-time vehicle trajectory planning.☆22Dec 14, 2018Updated 7 years ago
- This repository includes the source code associated with the paper "RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions", …☆80May 29, 2024Updated last year
- A Julia package for constrained iterative LQR (iLQR)☆44Mar 17, 2023Updated 2 years ago
- a solver-free polynomial trajectory generation framework☆58Sep 21, 2022Updated 3 years ago
- A toolkit for testing control and planning algorithm for car racing.☆186Apr 19, 2024Updated last year
- Optimization-based real-time path planning for vehicles.☆226Nov 30, 2025Updated 2 months ago
- End-to-End Learning of Behavioural Inputs for Autonomous Driving in Dense Traffic☆22Oct 26, 2023Updated 2 years ago
- ☆122Jan 9, 2021Updated 5 years ago