A Fast Solver for Constrained Trajectory Optimization
☆86Aug 2, 2023Updated 2 years ago
Alternatives and similar repositories for altro
Users that are interested in altro are comparing it to the libraries listed below
Sorting:
- C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)☆85Sep 8, 2023Updated 2 years ago
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆160Sep 22, 2022Updated 3 years ago
- ☆31Jan 25, 2023Updated 3 years ago
- ☆17Sep 10, 2025Updated 6 months ago
- ☆189Mar 6, 2025Updated last year
- A free LDL factorisation routine (Julia implementation)☆22Feb 24, 2023Updated 3 years ago
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆68Sep 26, 2025Updated 5 months ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆87Nov 17, 2025Updated 4 months ago
- Conic Augmented Lagrangian Interior-Point SOlver☆77Dec 14, 2022Updated 3 years ago
- Nonlinear Distributionally-Robust MPC via Risk-Sensitive Optimal Control in Julia☆21Aug 9, 2021Updated 4 years ago
- constraint differential dynamical programming☆28Aug 19, 2022Updated 3 years ago
- Simple Linear Algebra Protocols☆24Jun 1, 2023Updated 2 years ago
- C++ interface for hpipm, a high-performance interior point MPC solver☆103Apr 21, 2023Updated 2 years ago
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 5 years ago
- A differentiable simulator for robotic systems.☆31Jun 14, 2022Updated 3 years ago
- Differentiable collision detection between capsules and padded polygons☆15Oct 20, 2022Updated 3 years ago
- A Python reference implementation of rigid body dynamics algorithms☆18Jul 17, 2023Updated 2 years ago
- Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.☆214Jan 29, 2024Updated 2 years ago
- C++/Eigen implementation of iLQR☆118Dec 20, 2018Updated 7 years ago
- The Advanced Proximal Optimization Toolbox☆547Updated this week
- ☆31Nov 16, 2023Updated 2 years ago
- Proximal Policy Optimization (PPO) written in C++ with PyTorch (LibTorch)☆17Jul 21, 2024Updated last year
- High-performance interior-point-method QP and QCQP solvers☆669Feb 18, 2026Updated last month
- Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928☆67Dec 13, 2022Updated 3 years ago
- Optimal Control for Switched Systems☆1,323Mar 13, 2026Updated last week
- Rigid body dynamics simulation using maximal coordinates.☆26Feb 13, 2023Updated 3 years ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆283Mar 12, 2026Updated last week
- Differentiable collision detection for capsules in JAX.☆52Dec 2, 2023Updated 2 years ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆161Dec 14, 2022Updated 3 years ago
- A Real-Time Reachability-based Motion Planning Algorithm for Risk-Aware Motion Planning in Uncertain Environments.☆35Dec 13, 2023Updated 2 years ago
- Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on wor…☆49Sep 12, 2023Updated 2 years ago
- Unified C++ interface for quadratic programming solvers☆66Oct 2, 2025Updated 5 months ago
- Stanford PhD Thesis☆18Jan 11, 2023Updated 3 years ago
- ☆190Oct 27, 2022Updated 3 years ago
- A simple, lightweight Python/PyBullet-based Micro Aerial Vehicles simulator - Code for our work "Output-Feedback Tube MPC Guided Data Aug…☆16Oct 20, 2022Updated 3 years ago
- A fast trajectory optimization library written in Julia☆393Mar 27, 2025Updated 11 months ago
- Trajectory tracking controllers for micro aerial vehicles☆10Mar 9, 2022Updated 4 years ago
- A differentiable collision-free corridor generator.☆62Dec 16, 2024Updated last year
- ☆10Aug 30, 2023Updated 2 years ago