Quadrotor control, path planning and trajectory optimization

灰狼优化算法(GWO)路径规划/轨迹规划/轨迹优化、多智能体/多无人机航迹规划

Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.

KSP Trajectory Optimization Tool

Code for "Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation", SIGGRAPH 2019

This project solves linear-quadratic dynamic optimization (LQDO) problems using direct transcription (DT) and quadratic programming (QP)

Course project: optimal control of a 2 dof manipulator exploiting the DDP algorithm

Optimal Control and Trajectory Tracking for the Ballbot (Nagarajan et al. 2014)

Combined Learning from Demonstration and Motion Planning

The repository includes the description and implementation of the Direct Methods for Optimal Control.

Successive Convexification with Continuous-Time Constraint Satisfaction

Toy robotic projects from winter holiday 2018-2019 and spring 2019 at Boston University

A MATLAB file to generate minimum trajectory from one to another point.

A Simulation Model for trajectory Planning in MATLAB and Simulink to generate desired trajectory and joint torques using Inverse Dynamic Control aproach.

Minimum jerk trajectory optimization based on Bernstein polynomials.

DMOC method for a simple pendulum swing-up control

Indirect optimization for energy-optimal Lyapunov-to-Lyapunov transfer using heteroclinic connection as initial guess.

This optimization project aims to find the best trajectory of a 2-link robotic arm to achieve minimum joint torque over time when lifting objects up from ground

Estimation of minimal inertial parameters of a space robot for motion planning and control

Trajectory optimization for 2 degrees of freedom arm