PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

Reinforcement Learning with Model Predictive Control

A toolkit for testing control and planning algorithm for car racing.

This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

Implementing trajectory optimization on bipedal system

Deep Neural Network architecture as a predictive optimal controller for {HVAC+Solar cell + battery} disturbance afflicted system vs classic Model Predictive Control

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

This repository contains the source code for “Unscented Kalman filter stochastic nonlinear model predictive control” (UKF-SNMPC).

This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️ ✈️

A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation

This repository contains the source code for "Stochastic data-driven model predictive control using Gaussian processes" (SDD-GP-MPC).

The implement for the Quadrotor trajectory tracking using MPC with CasADi library

ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit

MPC pathtracking implementation with python, solved by PANOC/IPOPT

Nonlinear Progamming with CasADi

Collocation methods for trajectory optimization for second or higher order systems.

Spatial transformation library for CasADi Python.