casadi / casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

leggedrobotics / ocs2

Optimal Control for Switched Systems

pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

acados / acados

Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

giaf / hpipm

High-performance interior-point-method QP and QCQP solvers

zefew6 / LearnOpt_Motion_Planning

Exploring Learning and Optimization for Robot Motion Planning and Control.