eliatrevisan / interaction_aware_mppi
Pytorch re-implementation of the paper "Multi-agent path integral control for interaction-aware motion planning in urban canals" by Lucas Streichenberg, Elia Trevisan, Jen Jen Chung, Roland Siegwart, and Javier Alonso-Mora
☆14Updated 10 months ago
Alternatives and similar repositories for interaction_aware_mppi:
Users that are interested in interaction_aware_mppi are comparing it to the libraries listed below
- Rule-Based Lloyd (RBL) Multi-robot motion planning and control☆16Updated 4 months ago
- Local Planner Bench☆50Updated 2 years ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆18Updated 4 years ago
- ☆24Updated 2 months ago
- A Python based implementation for fast convex decomposition of obstacle-free spaces.☆25Updated 3 months ago
- Training and testing scripts for the prediction model used in the "Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictio…☆15Updated last year
- Official implementation of COAt-MPC (IEEE RA-L 2025), a method with theoretical guarantees to automatically tune the cost function weight…☆12Updated 2 weeks ago
- ☆24Updated 9 months ago
- C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI…☆10Updated 7 months ago
- ☆14Updated 6 months ago
- Linear Temporal Logic Motion Planning with Graphs of Convex Sets☆45Updated last year
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆25Updated 4 years ago
- Collision-Free Mixed-Integer Planning for Quadrotors Using Convex Safe Regions☆15Updated 4 years ago
- Code for the paper "Deep Model Predictive Optimization"☆24Updated last year
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆29Updated 3 weeks ago
- ☆23Updated 4 months ago
- 2D Grid Environment with common utils (raytracing) and quadrotor dynamics. With Exponential Control Barrier Functions☆12Updated 4 years 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 last year
- Multi-robot local motion planning using dynamic optimization fabrics.☆27Updated 8 months ago
- Non-Gaussian Risk Bounded Trajectory Optimization for StochasticNonlinear Systems in Uncertain Environments☆33Updated 2 years ago
- A simple demo of imitation learning based on diffusion policy for quadrotor control☆19Updated 6 months ago
- Jax Official Implementation of T-RO Paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Fun…☆61Updated 3 weeks ago
- High-level Python Particle Sequential Convex Programming Model Predictive Control (SCP PMPC) interface☆15Updated last year
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆18Updated last year
- RA-L 2023: Learning to Play Trajectory Games Against Opponents with Unknown Objectives: A differentiable adaptive game-theoretic planner …☆24Updated 6 months ago
- WAFR 2024: Multi-modal variational inference in multi-agent interaction enabled by VAE + differentiable Nash game solver.☆20Updated 3 months ago
- Model predictive path integral control in jax☆9Updated 2 years ago
- [RAL'24] Official code repo for "GMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking"☆14Updated last year
- gym environment for drone 2D active perception in dynamic environment☆11Updated last year
- A codebase for running the MPPI algorithm on OpenAI gym style environments☆10Updated 3 years ago