Implementation of a multi-rate control architecture based on MPC and CBF
☆25Feb 20, 2021Updated 5 years ago
Alternatives and similar repositories for multirate-mpc-cbf
Users that are interested in multirate-mpc-cbf are comparing it to the libraries listed below
Sorting:
- Model Predictive Contouring Control for multi-rotors with ACADO Toolkit☆25Mar 26, 2025Updated 11 months ago
- ☆11Feb 27, 2025Updated last year
- ☆29Jul 29, 2025Updated 7 months ago
- This repo collets few LMPC examples coded in Python☆86Jun 28, 2024Updated last year
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆186Dec 24, 2022Updated 3 years ago
- ☆58Jan 23, 2025Updated last year
- Sampling based control for kino-dynamic contact aware motion planning.☆34Mar 3, 2021Updated 5 years ago
- High-level Python Particle Sequential Convex Programming Model Predictive Control (SCP PMPC) interface☆17Oct 30, 2023Updated 2 years ago
- Improving Model Predictive Path Integral Control with Transformer-Initialized Control Sequences☆18Feb 28, 2026Updated last week
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆27Dec 2, 2020Updated 5 years ago
- Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.☆21Jan 26, 2026Updated last month
- C++ wrapper to dynamically run C code generated by ACADOS☆17Mar 23, 2025Updated 11 months ago
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆50Oct 3, 2023Updated 2 years ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆66Dec 24, 2022Updated 3 years ago
- Sampling based GP MPC☆41Feb 12, 2026Updated 3 weeks ago
- An MPC approach for motion planning of non-holonomic mobile systems in dynamic scenarios☆35Jun 23, 2024Updated last year
- Implementation of followinf estimation algorithms in python: Kalman Filter, Extended Kalman Filter, Unscented Kalman Filter, Cubature Kal…☆11Dec 2, 2023Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆64Aug 16, 2022Updated 3 years ago
- chasing algorithm for up to two target in obstacle environment☆20Jan 19, 2022Updated 4 years ago
- [CoRL 2024] ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning - Public code and model☆19Apr 3, 2025Updated 11 months ago
- ☆22Jun 29, 2022Updated 3 years ago
- A velocity planner demo related to out paper "Real-time Identification and Avoidance of Simultaneous Static and Dynamic Obstacles on Poin…☆38Apr 13, 2023Updated 2 years ago
- Towards safe and optimal trajectory tracking control.☆23Oct 24, 2023Updated 2 years ago
- A framework aiming to bridge fast robot prototyping, predefined motion primitives, heterogeneous teleoperation, data collection, and flex…☆22Updated this week
- Simulations for learning-based Conformal Tube MPC in interactive multi-agent systems.☆15Feb 11, 2026Updated 3 weeks ago
- MATLAB LMPC implementation for a double integrator system☆61Apr 26, 2021Updated 4 years ago
- DC-TMPC: A tube-based MPC algorithm for systems that can be expressed as a difference of convex functions.☆21Jul 28, 2022Updated 3 years ago
- Active Perceptive Motion Generation for Mobile Manipulation☆42Jun 16, 2024Updated last year
- ☆33May 13, 2021Updated 4 years ago
- Safe MPC using Learned Viability☆14Feb 26, 2026Updated last week
- Interface between mc_rtc and libfranka☆12Feb 18, 2026Updated 2 weeks ago
- ☆13Dec 14, 2020Updated 5 years ago
- Gaussian Process-based Adaptive Informative Path Planning with Multimodal Sensing☆14Aug 8, 2024Updated last year
- Classes and tailored optimization routines for zonotopes, constrained zonotopes, and hybrid zonotopes☆14Feb 28, 2026Updated last week
- Robot control with Traditional control and Optimal control and Learning-based control☆10Oct 9, 2022Updated 3 years ago
- Code of my CDC 2023 Paper: Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction☆30Nov 2, 2023Updated 2 years ago
- ☆118Jan 2, 2023Updated 3 years ago
- Source code for ST-VIO (Li, H., Stueckler, J.): "Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with …☆18Jul 15, 2024Updated last year
- A ROS2-based software library for inverse dynamics computation☆28Feb 22, 2026Updated last week