BolunDai0216 / DifferentiableOptimizationCBFLinks
[IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
☆31Updated 3 months ago
Alternatives and similar repositories for DifferentiableOptimizationCBF
Users that are interested in DifferentiableOptimizationCBF are comparing it to the libraries listed below
Sorting:
- Official implementation of ICRA'24 paper: Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Control…☆27Updated 7 months ago
- Sampling based control for kino-dynamic contact aware motion planning.☆28Updated 4 years ago
- A simple demo of imitation learning based on diffusion policy for quadrotor control☆24Updated 9 months ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆37Updated 3 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆30Updated 2 months ago
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆26Updated 4 years ago
- Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.☆12Updated this week
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 6 months ago
- Linear Temporal Logic Motion Planning with Graphs of Convex Sets☆45Updated last year
- ☆38Updated 8 months ago
- This repository aims to compare different motion planners for dynamical systems, namely search-based, sampling-based, and optimization-ba…☆40Updated last year
- Implementation of a multi-rate control architecture based on MPC and CBF☆20Updated 4 years ago
- ☆53Updated 4 years ago
- [RAL'24] Official code repo for "GMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking"☆16Updated 3 weeks ago
- Multi-robot local motion planning using dynamic optimization fabrics.☆31Updated 10 months ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆54Updated 3 years ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆75Updated last week
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆20Updated last year
- Motion Planning Transformer☆31Updated 2 years ago
- A Python based implementation for fast convex decomposition of obstacle-free spaces.☆28Updated 6 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- Non-linear model predictive control (NMPC) library☆52Updated 2 weeks ago
- Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planni…☆63Updated 3 months ago
- Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators (ICRA23)☆19Updated 2 years ago
- Code for the paper "Deep Model Predictive Optimization"☆27Updated last year
- Local Planner Bench☆51Updated 2 years ago
- Learning Model for Aggressive Jumping Maneuvers☆18Updated 3 months ago
- Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn☆41Updated last year
- ☆21Updated 2 years ago
- Rule-Based Lloyd (RBL) Multi-robot motion planning and control☆16Updated last month