mppi 开源项目推荐（79 个）

Shunichi09 /PythonLinearNonlinearControl

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

MizuhoAOKI /python_simple_mppi

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

UM-ARM-Lab /pytorch_mppi

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

iit-DLSLab /Quadruped-PyMPC

基于单刚体模型、用Python编写的四足机器人预测控制器模型。基于梯度（acados）或基于采样（jax）

mit-acl /mppi_numba

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

ACDSLab /MPPI-Generic

Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

MizuhoAOKI /nullspace_mpc

Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

MizuhoAOKI /mppi_swerve_drive_ros

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

kohonda /mppi_playground

Model Predictive Path Integral Control (MPPI) with PyTorch

nicolapiccinelli /libmpc

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

MizuhoAOKI /path_tracking_catalog

25 path-tracking algorithms are (going to be) implemented with python.

jrapudg /RTWholeBodyMPPI

We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using a single control policy derived from Model-Predictive Path Integral (MPPI) control.

kohonda /proj-svg_mppi

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

formiat /px4-ros2-drone-nav

Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.

shaoanlu /mppi_cbf

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

MOGI-ROS /Week-7-8-ROS2-Navigation

通过LOS 2 Jazzy绘制、本地化和使用导航堆栈

sisl /MPOPIS

MPPI 的自适应重要性采样改进

Robot-Nav /SA-MPPI

用于轮/足式机器人的改进MPPI 局部控制器。main（结合RC-ESDF的SA-MPPI：提升动态绕障能力）、MPPI_C++（标准）、 OptiIO-MPPI（避障）、DC-PMPPI （Disturbance-Compensated Pure MPPI：提高湿滑地面以及扰动甲板下的跟踪能力）等

masafumiendo /benchnav

off-road navigation simulator for benchmarking planning algorithms

RIVeR-Lab /Stochastic-MPPI

Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.