The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

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

3D Trajectory Planner in Unknown Environments

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

A General-Purpose Trajectory Optimizer for Multicopters

Quadrotor control, path planning and trajectory optimization

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

DJI Onboard SDK Official Repository

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)

灰狼优化算法(GWO)路径规划/轨迹规划/轨迹优化、多智能体/多无人机航迹规划

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.

Trajectory Planner in Multi-Agent and Dynamic Environments

Formation Flight in Dense Environments

Nyx is a high fidelity, fast, reliable and validated astrodynamics toolkit library written in Rust and available in Python

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.

A differentiable physics engine for robotics

Gaussian Process Motion Planner 2

Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.

Implementation of the real-time MPC based on iLQR in Carla simulator

[IEEE RA-L'25] Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments (C++/ROS)

Efficient optimal control solvers for robotic systems.

Curvature Corrected Moving Average: An accurate and model-free path smoothing algorithm.

Open Source Optimization of Dynamic Multidisciplinary Systems

[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

NASA's aircraft analysis, design, and optimization tool

Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

GPU-friendly, auto-differentiable LQR solver with JAX.