The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
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Updated
Nov 9, 2022 - C++
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Iterative LQG for a couple of MuJoCo models
Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
iterative Linear Quadratic Regulator practice
ILQR (Iterative Linear Quadratic Regulator)
SIA - C++/Python library for model-based stochastic estimation and optimal control
iLQR for a 3D quadrotor model
Gradient-based trajectory optimisation toolbox that speeds up trajectory optimisation by only computing dynamics derivatives at key-points with finite-differencing. Remainder of derivatives are approximated via interpolation.
Nav2 controller plugin utilizing Frenet Frames and ILQR
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