RCL-NUS / NeuroMHELinks
Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to render fast online adaptation to state-dependent noise. The neural network can be efficiently trained from the robot's trajectory tracking errors without the need for the ground truth data.
☆77Updated 3 months ago
Alternatives and similar repositories for NeuroMHE
Users that are interested in NeuroMHE are comparing it to the libraries listed below
Sorting:
- MPC implementation for quadrotors using acados☆39Updated 3 years ago
- MPC implementation using acados integrated with with PX4 on ROS2☆28Updated 11 months ago
- Learning Agile Flights on SE(3): a novel deep SE(3) motion planning and control method for quadrotors. It learns an MPC's adaptive SE(3) …☆75Updated last year
- Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.☆48Updated 3 months ago
- Model Predictive Control for Quadrotor using acados☆52Updated 2 years ago
- Code of my CDC 2023 Paper: Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction☆30Updated 2 years ago
- Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads☆118Updated last year
- ☆42Updated 2 years ago
- A simple path planning framework for swarm robots☆22Updated 2 weeks ago
- ☆64Updated 4 months ago
- This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance…☆28Updated last year
- All in one control interface for quadrotors in ROS.☆36Updated 2 months ago
- ☆81Updated last year
- A lightweight learning-based trajectory optimization framework.☆114Updated 8 months ago
- Project Code for the paper "A Learning-based Quadcopter Controller with Extreme Adaptation"☆74Updated 7 months ago
- This docker has Acados, Casadi, neural mpc and ROS Noetic for NVIDIA Jetson. It has been tested on a Jetson Nano and Jetson Orin NX☆13Updated 2 years ago
- Model Predictive Controller for a quadcopter model using Acados nlp optimization☆22Updated 3 years ago
- ☆56Updated last year
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆49Updated 3 years ago
- ☆28Updated 3 years ago
- ☆51Updated last year
- ☆56Updated this week
- Time-Optimal Planning for Quadrotor Waypoint Flight☆116Updated 4 years ago
- L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors☆28Updated 2 years ago
- C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI…☆19Updated last year
- ☆78Updated 6 months ago
- ☆39Updated 3 weeks ago
- Non-Linear L1-Adaptive Model Predictive Control of a Micro 3D Helicopter☆16Updated 3 years ago
- ☆47Updated last year
- Repo for paper DATT: Deep Adaptive Trajectory Tracking for Quadrotor Drones☆76Updated last year