ethz-asl / mppi_mobile_manipulationLinks
Sampling based control for kino-dynamic contact aware motion planning.
☆33Updated 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:
- ☆66Updated 2 years ago
- Non-linear model predictive control (NMPC) library☆59Updated 6 months ago
- This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implemen…☆33Updated last year
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆63Updated 3 years ago
- This repository aims to compare different motion planners for dynamical systems, namely search-based, sampling-based, and optimization-ba…☆45Updated 2 years ago
- C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI…☆19Updated last year
- Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators (ICRA23)☆19Updated 2 years ago
- ☆24Updated 2 years ago
- Package for bidirectional motion planning for mobile manipulation tasks involving geometric end-effector task constraints☆27Updated 7 years ago
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆38Updated 4 years ago
- ☆113Updated 3 weeks ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆24Updated 3 years ago
- Planning framework for legged locomotion☆20Updated last year
- Dynamic but Fast Obstacle Avoidance☆39Updated last year
- ☆17Updated last year
- Quadruped Robot Planning ROS Package☆49Updated last year
- ☆75Updated last year
- ☆25Updated 2 years ago
- Terrain mapping algorithm for motion planning and control in legged locomotion☆34Updated 7 years ago
- ☆27Updated 2 weeks ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆68Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 8 months ago
- Local Planner Bench☆54Updated 2 years ago
- PyTorch examples for the IEEE Robotics and Automation Letters paper titled "Biased-MPPI: Informing Sampling-Based Model Predictive Contro…☆41Updated last year
- ROS package for autonomous navigation of AGVs in unknown cluttered environments using U-MPPI☆45Updated 10 months ago
- Polygonal simulation environment and implementation of the STAA*, DWA, and a PD controller for nonholonomic agents.☆18Updated last year
- Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.☆20Updated 3 weeks ago
- ☆114Updated 2 years ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆59Updated 4 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 3 years ago