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

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

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

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

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

Model Predictive Path Integral Control (MPPI) with PyTorch

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

Adaptive importance sampling modification to MPPI

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

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

off-road navigation simulator for benchmarking planning algorithms

SIA - C++/Python library for model-based stochastic estimation and optimal control

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

A simple and extensible Octave/Matlab library for Model Predictive Path Integral control scheme.

A gym-like classical control benchmark for evaluating the robustnesses of control and reinforcement learning algorithms.

BiC-MPPI: Goal-Pursuing, Sampling-Based Bidirectional Rollout Clustering Path Integral for Trajectory Optimization

Bayesian Optimization for MPPI Control of Robot Arm Planar Pushing

C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI variants and Multiple Environments