ethz-asl / mppi_mobile_manipulationLinks
Sampling based control for kino-dynamic contact aware motion planning.
☆29Updated 4 years ago
Alternatives and similar repositories for mppi_mobile_manipulation
Users that are interested in mppi_mobile_manipulation are comparing it to the libraries listed below
Sorting:
- ☆64Updated 2 years ago
- Non-linear model predictive control (NMPC) library☆53Updated last month
- ☆94Updated last week
- Package for bidirectional motion planning for mobile manipulation tasks involving geometric end-effector task constraints☆27Updated 7 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆62Updated 2 years ago
- This repository aims to compare different motion planners for dynamical systems, namely search-based, sampling-based, and optimization-ba…☆40Updated last year
- Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators (ICRA23)☆19Updated 2 years ago
- Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.☆15Updated 2 weeks ago
- ☆21Updated 2 years ago
- Planning framework for legged locomotion☆19Updated last year
- ☆24Updated last year
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆23Updated 2 years ago
- ☆100Updated 2 years ago
- Official implementation of ICRA'24 paper: Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Control…☆28Updated 7 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 7 months ago
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆31Updated 4 months ago
- This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implemen…☆30Updated last year
- Quadruped Robot Planning ROS Package☆29Updated last year
- Ros2 vendor for the Acados NMPC solver.☆14Updated last month
- Local Planner Bench☆53Updated 2 years ago
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆35Updated 4 years ago
- Obstacle avoidance around linear and nonlinear dynamics.☆20Updated 7 months ago
- MPC implementation for quadrotors using acados☆35Updated 3 years ago
- PyTorch examples for the IEEE Robotics and Automation Letters paper titled "Biased-MPPI: Informing Sampling-Based Model Predictive Contro…☆32Updated last year
- ☆67Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 3 months ago
- Central repository for shared mobile manipulation code.☆16Updated 4 months ago
- Polygonal simulation environment and implementation of the STAA*, DWA, and a PD controller for nonholonomic agents.☆18Updated 9 months ago
- Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.☆34Updated 8 months ago
- ☆26Updated last week