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

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

ROS stack with an efficient real-time NMPC for the Crazyflie 2.1

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

Model Predictive Control for Quadrotor using acados

Model Predictive Controller for a quadcopter model using Acados nlp optimization

Vehicle dynamics with a sophisticated friction model and drive-train model that can be used to augment any multi-body simulation (such as Gazebo) involving vehicles.

A distributed whole-body model predictive control for quadruped robots

Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.

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

C++ wrapper to dynamically run C code generated by ACADOS

Ros2 vendor for the Acados NMPC solver.

Decentralized Tube-Based Model Predictive Controller. Master Thesis project 2024

Docker file of ML-Casadi, acados and ROS

Example application for the acados_solver_ros2 package.

Acados convenience for catkin