casadi | Topic | Ecosyste.ms: Repos

Topic: "casadi"

stack-of-tasks/pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Language: C++ - Size: 31.4 MB - Last synced at: 20 days ago - Pushed at: 22 days ago - Stars: 2,954 - Forks: 484

utiasDSL/safe-control-gym

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

Language: Python - Size: 208 MB - Last synced at: 2 months ago - Pushed at: 2 months ago - Stars: 791 - Forks: 152

FilippoAiraldi/mpc-reinforcement-learning

Reinforcement Learning with Model Predictive Control

Language: Python - Size: 3.92 MB - Last synced at: 19 days ago - Pushed at: 23 days ago - Stars: 602 - Forks: 64

Tim-Salzmann/l4casadi

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

Language: Python - Size: 24.4 MB - Last synced at: 2 months ago - Pushed at: 7 months ago - Stars: 511 - Forks: 42

gbionics/adam

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

Language: Python - Size: 2.18 MB - Last synced at: 17 days ago - Pushed at: 19 days ago - Stars: 203 - Forks: 26

HybridRobotics/car-racing

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

Language: Python - Size: 38.8 MB - Last synced at: 6 months ago - Pushed at: over 1 year ago - Stars: 180 - Forks: 35

tomcattiger1230/CasADi_MPC_MHE_Python

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

Language: Python - Size: 2.42 MB - Last synced at: 10 months ago - Pushed at: 10 months ago - Stars: 148 - Forks: 34

Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoothly on CPUs, GPUs, and TPUs.

Language: Jupyter Notebook - Size: 3.7 MB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 127 - Forks: 3

pyomeca/bioptim

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

Language: Python - Size: 16.9 MB - Last synced at: 17 days ago - Pushed at: 17 days ago - Stars: 111 - Forks: 55

bevanda/Learning-Based-MPC

Learning-Based Model Predictive Control (LBMPC)

Language: MATLAB - Size: 15.2 MB - Last synced at: 10 months ago - Pushed at: over 6 years ago - Stars: 99 - Forks: 29

ORB-HD/rbdl-orb

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

Language: C++ - Size: 16.7 MB - Last synced at: almost 2 years ago - Pushed at: over 3 years ago - Stars: 91 - Forks: 46

gbionics/liecasadi

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

Language: Python - Size: 96.7 KB - Last synced at: 15 days ago - Pushed at: 6 months ago - Stars: 86 - Forks: 9

IvLabs/biped_trajectory_optimization

Implementing trajectory optimization on bipedal system

Language: Python - Size: 130 MB - Last synced at: over 2 years ago - Pushed at: about 4 years ago - Stars: 71 - Forks: 8

ell-hol/mpc-DL-controller

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

Language: Python - Size: 4.5 MB - Last synced at: about 2 years ago - Pushed at: over 6 years ago - Stars: 60 - Forks: 35

Eric-Bradford/UKF-SNMPC

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

Language: Python - Size: 137 KB - Last synced at: 9 months ago - Pushed at: almost 3 years ago - Stars: 59 - Forks: 23

proxima-technology/casadi_mpc_nyuumon

『PythonとCasADiで学ぶモデル予測制御』サポートサイト

Language: Jupyter Notebook - Size: 61.8 MB - Last synced at: 2 months ago - Pushed at: 2 months ago - Stars: 58 - Forks: 9

Eric-Bradford/SDD-GP-MPC

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

Language: Python - Size: 18.4 MB - Last synced at: 7 months ago - Pushed at: over 2 years ago - Stars: 53 - Forks: 6

Eric-Bradford/Nominal_NMPC

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

Language: Python - Size: 12.7 KB - Last synced at: 4 months ago - Pushed at: over 4 years ago - Stars: 50 - Forks: 8

devsonni/MPC-Implementation

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. 🏎️ ✈️

Language: Python - Size: 1.83 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 47 - Forks: 11

fevrem/TROPIC

TROPIC: TRajectory OPtimization In CasADi

Language: C - Size: 122 MB - Last synced at: about 2 years ago - Pushed at: over 4 years ago - Stars: 43 - Forks: 11

junzis/openap-top

easy-peasy optimal flight trajectory

Language: Python - Size: 8.15 MB - Last synced at: 4 months ago - Pushed at: 6 months ago - Stars: 35 - Forks: 9

MizuhoAOKI/pympc_panoc_ipopt

MPC pathtracking implementation with python, solved by PANOC/IPOPT

Language: Python - Size: 411 KB - Last synced at: 3 months ago - Pushed at: about 2 years ago - Stars: 31 - Forks: 1

FilippoAiraldi/casadi-nlp

Nonlinear Progamming with CasADi

Language: Python - Size: 3.47 MB - Last synced at: about 2 hours ago - Pushed at: 4 days ago - Stars: 26 - Forks: 2

ichatzinikolaidis/CasADi.jl

Julia interface to CasADi via PyCall

Language: Julia - Size: 59.6 KB - Last synced at: almost 2 years ago - Pushed at: about 5 years ago - Stars: 24 - Forks: 7

edxmorgan/diff_uv

A differentiable underwater vehicle dynamics.

Language: Python - Size: 2.28 MB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 19 - Forks: 5

cmower/spatial-casadi

Spatial transformation library for CasADi Python.

Language: Python - Size: 311 KB - Last synced at: 3 months ago - Pushed at: about 1 year ago - Stars: 17 - Forks: 2

iFR-ACSO/casos

CaΣoS is a nonlinear sum-of-squares optimization suite based on the symbolic framework of CasADi.

Language: MATLAB - Size: 3.29 MB - Last synced at: 20 days ago - Pushed at: 23 days ago - Stars: 16 - Forks: 0

AunSiro/optibot

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

Language: Python - Size: 852 KB - Last synced at: 12 months ago - Pushed at: 12 months ago - Stars: 15 - Forks: 4

FilippoAiraldi/casadi-neural-nets

Neural Networks with CasADi

Language: Python - Size: 101 KB - Last synced at: 22 days ago - Pushed at: 9 months ago - Stars: 11 - Forks: 1

YukiShirai/conpt

C++/python codes for contact-rich trajectory optimization.

Language: C++ - Size: 57.6 KB - Last synced at: 7 months ago - Pushed at: over 2 years ago - Stars: 11 - Forks: 1

ami-iit/mystica

mystica is a Matlab library for simulating multi-body robots relying on a maximal coordinate approach

Language: MATLAB - Size: 139 KB - Last synced at: 4 months ago - Pushed at: over 2 years ago - Stars: 10 - Forks: 0

ltgio/control-theory

control theory repo

Language: C - Size: 54.4 MB - Last synced at: almost 3 years ago - Pushed at: over 4 years ago - Stars: 10 - Forks: 5

duynamrcv/mpc_casadi

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

Language: Python - Size: 14.6 KB - Last synced at: almost 3 years ago - Pushed at: almost 4 years ago - Stars: 9 - Forks: 2

duynamrcv/quadrotor_mpc

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

Language: Python - Size: 414 KB - Last synced at: almost 3 years ago - Pushed at: about 4 years ago - Stars: 9 - Forks: 0

meco-group/mit-impact-2024

Learning material and website source code for the workshop on optimal control problems and model predictive control for autonomous systems to be held at MIT CSAIL, July 2024

Language: Jupyter Notebook - Size: 11.1 MB - Last synced at: 12 months ago - Pushed at: 12 months ago - Stars: 8 - Forks: 1

salehahr/dvi-ekf

VI-ESKF SLAM to estimate changing camera-IMU calibration parameters.

Language: Python - Size: 62.8 MB - Last synced at: about 2 years ago - Pushed at: over 2 years ago - Stars: 7 - Forks: 1

premsuggu/mpc-ilqr-mujoco

A C++ implementation of MPC framework for the humanoids using iLQR to solve the optimal control problem, leveraging the Pinocchio-Casadi library for efficient rigid body dynamics and analytical derivatives.

Language: C++ - Size: 79.6 MB - Last synced at: 6 days ago - Pushed at: 9 days ago - Stars: 6 - Forks: 0

Kev1CO/cocofest_archive

Cocofest is an optimal control python package for functional electrical stimulation models

Language: Python - Size: 14.1 MB - Last synced at: 20 days ago - Pushed at: over 1 year ago - Stars: 6 - Forks: 2

trajectory-invariants/invariants_py

Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.

Language: Jupyter Notebook - Size: 3.08 MB - Last synced at: 4 months ago - Pushed at: 7 months ago - Stars: 5 - Forks: 0

jonaylton/mpc-missile

Matlab Files for Master Thesis of Jonaylton at IME (Controle Preditivo Não-Linear Aplicado ao Sistema de Piloto Automático de Mísseis)

Language: MATLAB - Size: 92.8 KB - Last synced at: 9 months ago - Pushed at: 9 months ago - Stars: 5 - Forks: 2

EPVelasco/acados_casadi_ml_Jetson

This docker has Acados, Casadi, neural mpc and ROS Noetic for NVIDIA Jetson. It has been tested on a Jetson Nano and Jetson Orin NX

Language: Dockerfile - Size: 2.53 MB - Last synced at: about 2 years ago - Pushed at: about 2 years ago - Stars: 4 - Forks: 0

giuliovv/ball_beam

Casadi MPC to matlab S-Function example

Language: Jupyter Notebook - Size: 1.56 MB - Last synced at: 10 months ago - Pushed at: over 3 years ago - Stars: 4 - Forks: 0

ntnu-itk-autonomous-ship-lab/rlmpc

Research code behind custom SAC, NMPC, VAEs and other stuff for machine-learning based autonomous ship trajectory planning. Developed as part of the Autoship Centre for Research-based Innovation (SFI).

Language: Python - Size: 103 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 3 - Forks: 0

Smart-Wheelchair-RRC/casadi-mpc

Casadi-based MPC implemented for acceleration based control, complete with a ROS Interface and polygonal SDFs for generalization.

Language: Python - Size: 465 KB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 3 - Forks: 2

neverorfrog/vehicle-control

Model Predictive Control on vehicles

Language: Python - Size: 1.42 GB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 3 - Forks: 0

lvjonok/cmeel-casadi

cmeel distribution for CasADi - a symbolic framework for numeric optimization

Language: Shell - Size: 9.77 KB - Last synced at: 2 days ago - Pushed at: over 1 year ago - Stars: 3 - Forks: 2

UCL/Bayesian_opt_Pyro

This repo will implement Bayesian optimization using PYRO

Language: Python - Size: 75.2 KB - Last synced at: 9 months ago - Pushed at: almost 5 years ago - Stars: 3 - Forks: 2

pyomeca/cocofest

Cocofest is an optimal control python package for functional electrical stimulation models

Language: Python - Size: 33.9 MB - Last synced at: 13 days ago - Pushed at: 28 days ago - Stars: 2 - Forks: 4

os-olaniyi/mpc-motion-predictor

Model Predictive Controller (MPC) with a learning-based motion predictor

Language: Python - Size: 6.38 MB - Last synced at: 12 months ago - Pushed at: 12 months ago - Stars: 2 - Forks: 0

nosnoc/vdx

Automatic Index Tracking for CasADi NLPs

Language: MATLAB - Size: 262 KB - Last synced at: about 1 year ago - Pushed at: over 1 year ago - Stars: 2 - Forks: 2

sandeep026/simulatetraj

A class to integrate ordinary differential equations using cvodes

Language: Python - Size: 3.74 MB - Last synced at: 6 days ago - Pushed at: over 1 year ago - Stars: 2 - Forks: 0

sandeep026/numerical_optimal_control_MATLAB

Demonstration of some direct transcription methods for optimal control problem in matlab/octave

Language: MATLAB - Size: 20.5 KB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 2 - Forks: 0

smidmatej/mpc_quad

Model Predictive Controller for a quadcopter model using Acados nlp optimization

Language: Jupyter Notebook - Size: 84.6 MB - Last synced at: over 2 years ago - Pushed at: about 3 years ago - Stars: 2 - Forks: 0

ARoefer/kv_lite

Version 2.0 of Kineverse, a framework for modeling kinematics for robotic manipulation and control.

Language: Jupyter Notebook - Size: 327 KB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 1 - Forks: 0

JAParedes/MPC_for_inverted_pendulum_on_a_cart_stabilization

Model Predictive Control (MPC) for stabilization of a cart-pendulum system. The files in this repository evaluate LQR, linear MPC, nonlinear MPC and Reference Governor (RG) algorithms.

Language: MATLAB - Size: 13.6 MB - Last synced at: 4 months ago - Pushed at: 7 months ago - Stars: 1 - Forks: 1

EPVelasco/acados_casadi_ml

Docker file of ML-Casadi, acados and ROS

Language: Dockerfile - Size: 2.02 MB - Last synced at: about 2 years ago - Pushed at: about 2 years ago - Stars: 1 - Forks: 1

hamzamo2men2022932/casadi-on-gpu

🚀 Accelerate CasADi with CUDA to run functions directly on the GPU, achieving impressive performance for robotics and dynamic modeling tasks.

Language: Cuda - Size: 21.7 MB - Last synced at: 8 days ago - Pushed at: 8 days ago - Stars: 0 - Forks: 0

JeyRunner/bipedal-loco-opti

Trajectory Optimization for Bipedal Locomotion.

Language: Python - Size: 6.64 MB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 0 - Forks: 0

jongoiko/gcimopt

Learning efficient goal-conditioned policies by imitating optimal trajectories

Language: Python - Size: 423 KB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 0 - Forks: 0

elymsyr/auv_control_system

A modular, GPU-accelerated control system framework for AUV. Features Model Predictive Control (MPC) with CasADi, CUDA-based environment mapping, GPU-accelerated A* path planning, Fossen equations for marine vehicle dynamics, and supports imitation learning by distilling CasADi-based nonlinear MPC models into NN controllers.

Language: C++ - Size: 76 MB - Last synced at: 5 months ago - Pushed at: 5 months ago - Stars: 0 - Forks: 0