This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️ ✈️
☆78Jul 18, 2024Updated last year
Alternatives and similar repositories for MPC-Implementation
Users that are interested in MPC-Implementation are comparing it to the libraries listed below
Sorting:
- The RF-MPC algorithm, originally designed for quadruped robots, is adapted for use with UAVs after some modifications.☆14Apr 26, 2023Updated 2 years ago
- Model Predictive Controller for a quadcopter model using Acados nlp optimization☆22Nov 1, 2022Updated 3 years ago
- ☆33May 13, 2021Updated 4 years ago
- Model Predictive Controller for a quadcopter model using online learning with recursive Gaussian process regression in ROS-Gazebo☆26Apr 21, 2024Updated last year
- Collision avoidance for mavs in dynamic environments using model predictive control☆93Jun 30, 2020Updated 5 years ago
- This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python☆170Mar 19, 2025Updated 11 months ago
- Harnessing reinforcement learning, this repository emulates drone flocking behavior inspired by biological models. This uses a 2D environ…☆11Nov 4, 2023Updated 2 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Apr 8, 2024Updated last year
- ☆41Aug 23, 2023Updated 2 years ago
- Implementation of MPC to solve collision avoidance problem for 3D drone☆15Dec 13, 2023Updated 2 years ago
- Non-holonomic MPC using MATLAB with obstacle avoidance, orientation constraints and lane constraints☆18Jan 7, 2021Updated 5 years ago
- ICMRE-2021 coference paper codes☆81May 17, 2023Updated 2 years ago
- Model Predictive Control for Quadrotor using acados☆54Oct 28, 2023Updated 2 years ago
- ETH Model Predictive Control Course☆18May 13, 2020Updated 5 years ago
- A simple robust MPC for linear systems with model mismatch: Balancing conservatism vs computational complexity☆34Mar 16, 2022Updated 3 years ago
- This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance…☆28May 23, 2024Updated last year
- This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is ba…☆403Feb 4, 2021Updated 5 years ago
- Model Predictive Control for a quadrotor in static and dynamic environments☆73Nov 11, 2021Updated 4 years ago
- Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to re…☆80Oct 16, 2025Updated 4 months ago
- Codes for the paper "Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints". IEEE Transactions on Cybe…☆25Jul 14, 2022Updated 3 years ago
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆49Apr 4, 2022Updated 3 years ago
- Model Predictive Control using acados and ROS.☆58Oct 25, 2024Updated last year
- Linear MPC for Lane Keeping and Obstacle Avoidance on Low Curvature Roads - Paper Application☆21Oct 15, 2022Updated 3 years ago
- An Arduino library for embedded linear MPC controller.☆26Dec 1, 2024Updated last year
- Reference implementation of the embedded HMPC T-RO paper☆26Jun 11, 2025Updated 8 months ago
- Robust L1-adaptive control of a planar nanopositioning system under model uncertainties and disturbances (Master Thesis)☆19Nov 30, 2022Updated 3 years ago
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆183Dec 24, 2022Updated 3 years ago
- The implement for the Quadrotor trajectory tracking using MPC with CasADi library☆59Jan 4, 2022Updated 4 years ago
- A Report on Model Predictive Control Implementation☆14May 9, 2018Updated 7 years ago
- RAPA-Planner: Robust and Efficient Motion Planning for Quadrotors Based on Parallel RA-MPPI☆24Oct 9, 2024Updated last year
- ☆37Oct 5, 2020Updated 5 years ago
- Project codes for NMPC based Target Tracking☆63Nov 26, 2021Updated 4 years ago
- Trajectory generation for UAV formations to track a target☆21May 24, 2022Updated 3 years ago
- ☆38Jun 24, 2024Updated last year
- ICRA 2024 | Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps☆120Sep 3, 2024Updated last year
- MPC implementation for quadrotors using acados☆39Feb 25, 2022Updated 4 years ago
- cooperative path following of multiple robots☆21Apr 3, 2021Updated 4 years ago
- Online trajectory planning and control using nonlinear MPC model in MATLAB to avoid dynamic/static obstacles☆37Sep 18, 2023Updated 2 years ago