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Real-time behaviour synthesis with MuJoCo, using Predictive Control

Versatile framework for multi-party computation

Optimal Control for Switched Systems

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

Sample code and build environments for MPC frameworks

ABY - A Framework for Efficient Mixed-protocol Secure Two-party Computation

Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

Efficient optimal control solvers for robotic systems.

Oblivious Transfer, Oblivious Transfer Extension and Variations

This project is to use Model Predictive Control (MPC) to drive a car in a game simulator. The server provides reference waypoints (yellow line in the demo video) via websocket, and we use MPC to compute steering and throttle commands to drive the car. The solution must be robust to 100ms latency, since it might encounter in real-world application.

An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC

libmpc++ is a C++ header-only library to solve linear and non-linear MPC

MPC in vehicle to track reference trajectory

A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)