heli-sudoo / Multiple-Shooting-DDP
Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.
☆17Updated 9 months ago
Alternatives and similar repositories for Multiple-Shooting-DDP:
Users that are interested in Multiple-Shooting-DDP are comparing it to the libraries listed below
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 6 months ago
- ☆30Updated last year
- ☆44Updated 2 years ago
- A collection of MPC walking scripts with various models☆26Updated 3 months ago
- ☆14Updated 2 years ago
- Learning Model for Aggressive Jumping Maneuvers☆12Updated last month
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆14Updated 4 years ago
- C++ implementation of iLQR☆12Updated 7 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆37Updated 3 years ago
- Non-linear model predictive control (NMPC) library☆42Updated last year
- ☆29Updated last year
- ☆12Updated 2 years ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆54Updated 3 years ago
- TROPIC: TRajectory OPtimization In CasADi☆53Updated 3 years ago
- ☆32Updated 2 months ago
- ☆23Updated 2 years ago
- ☆41Updated last year
- Automatic Tuning for Data-driven Model Predictive Control☆36Updated last year
- Model predictive control based on data-driven model☆25Updated last year
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆49Updated this week
- A Fast Solver for Constrained Trajectory Optimization☆72Updated last year
- ICRA 2022 paper☆33Updated 4 months ago
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆23Updated 2 years ago
- Extended version of Featherstone's spatial_v2 package☆56Updated 2 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆41Updated last year
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆10Updated last year
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆38Updated 11 months ago