RIVeR-Lab / Stochastic-MPPILinks
Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.
☆41Updated 11 months ago
Alternatives and similar repositories for Stochastic-MPPI
Users that are interested in Stochastic-MPPI are comparing it to the libraries listed below
Sorting:
- C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI…☆14Updated last year
- Implementation of the Online Adaptive CBF for safety-critical navigation for input constrained systems.☆43Updated this week
- ☆31Updated 4 years ago
- A pytorch implementation of Smooth Model Predictive Path Integral control (SMPPI)☆15Updated last year
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆47Updated 3 years ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆100Updated 8 months ago
- Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to re…☆67Updated last week
- Dynamic but Fast Obstacle Avoidance☆38Updated last year
- MPC implementation for quadrotors using acados☆38Updated 3 years ago
- BiC-MPPI: Goal-Pursuing, Sampling-Based Bidirectional Rollout Clustering Path Integral for Trajectory Optimization☆17Updated last year
- (IJRR) Mixed Strategy Nash Equilibrium for Crowd Navigation☆34Updated 10 months ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆23Updated 4 years ago
- Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4…☆134Updated last year
- This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance…☆26Updated last year
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆39Updated 4 years ago
- This repository aims to compare different motion planners for dynamical systems, namely search-based, sampling-based, and optimization-ba…☆42Updated 2 years ago
- The Visibility-Aware RRT* implementation for safety-critical navigation with perception-limited robots.☆42Updated 6 months ago
- ☆66Updated 10 months ago
- ☆45Updated 10 months ago
- A topology aware sampling-based global planner for dynamic 2D environments☆57Updated 9 months ago
- 2D Grid Environment with common utils (raytracing) and quadrotor dynamics. With Exponential Control Barrier Functions☆12Updated 5 years ago
- ☆24Updated 2 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
- A differentiable collision-free corridor generator.☆63Updated 10 months ago
- ☆104Updated last week
- A fast algorithm for finding an optimal path in a collection of safe boxes☆66Updated 7 months ago
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆34Updated 7 months ago
- Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn☆42Updated last year
- ☆52Updated 11 months ago
- A Python based implementation for fast convex decomposition of obstacle-free spaces.☆30Updated 10 months ago