ZhaomingXie / CDDP
constraint differential dynamical programming
☆29Updated 2 years ago
Alternatives and similar repositories for CDDP:
Users that are interested in CDDP are comparing it to the libraries listed below
- Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928☆62Updated 2 years ago
- Get started with Reachability-based Trajectory Design for static obstacles☆62Updated 3 years ago
- Robust Online Motion Planning using Contraction Theory☆56Updated 6 years ago
- ☆28Updated last year
- Robot Controls Course Project☆59Updated 3 years ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆70Updated 2 months ago
- Guaranteed Sequential Trajectory Optimization (GuSTO), using sequential convex programming for trajectory optimization with strong theore…☆61Updated last year
- Differential Dynamic Programming on Lie groups☆12Updated 4 years ago
- C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)☆70Updated last year
- A Fast Solver for Constrained Trajectory Optimization☆79Updated last year
- Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling☆11Updated 4 years ago
- Toolbox for Robotics Control☆64Updated 4 months ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆19Updated last year
- ☆45Updated 2 months ago
- Linear Temporal Logic Motion Planning with Graphs of Convex Sets☆46Updated last year
- A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation☆50Updated 4 years ago
- ☆75Updated last year
- A fast algorithm for finding an optimal path in a collection of safe boxes☆59Updated 2 months ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆28Updated 2 years ago
- Sampling based GP MPC☆27Updated this week
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆32Updated 10 months ago
- ☆44Updated last year
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆62Updated this week
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆25Updated 4 years ago
- Using Differential Dynamic Programming (DDP) to control various dynamical systems.☆22Updated 5 years ago
- Learning Certified Control Using Contraction Metric (CoRL 2020)☆30Updated 2 years ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆29Updated 3 years ago
- A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control☆51Updated 3 weeks ago
- Papers on Safety Critical Controls using Control Barrier Functions☆37Updated 6 months ago
- Economic tuning of tracking (N)MPC problems.☆36Updated 2 years ago