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Hi
I hope you are in good health. I am also working on model predictive control. It is very difficult to implement NMPC into simulink without using any toolbox or solver. Do you have any simple exa…
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This issue tracks progress on the (currently non-existing) chapter on Model Predictive Control.
The scope of that chapter is described in the book under [future chapters](https://thomasfermi.github…
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How hard is to couple the local planner with the controller in a Model Predictive Control Framwork using this repo?
My goal is to construct a non-linear program with smoothness cost and collision c…
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Diffrax docs' [Kalman Filter Example](https://docs.kidger.site/diffrax/examples/kalman_filter/) encouraged me to apply diffrax to other linear-quadratic control problems, such as the following
``` ma…
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Hi,
I am using SCS 3.2.4 with Python 3.12 on a Windows 11 machine to solve Quadratic Programming (QP) problems for Model Predictive Control (MPC). Most of the optimization results are correct, an…
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## Bug report
**Required Info:**
- Operating System:
- Ubuntu 22.04
- ROS2 Version:
- ROS2 Humble
- Version or commit hash:
- ros-humble-navigation2 1.1.15-1jammy.20240530.141947
- D…
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The existing MMM can be improved with variance decomposition framework, r2d2m2, which is plug and play into the existing code
```python
r2 = pm.Beta("r2", mu=0.8, sigma=0.5*0.8)
total_sigma = pm.…
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### Feature Type
Adding new functionality to the project
### Problem Description
A common type of low-level controller for AUVs/ROVs is nonlinear model predictive control (NPMC). Providing su…
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The code is about the paper "safety critical model predictive control with discrete time control barrier function", published in acc2021.
![20231102-123243](https://github.com/HybridRobotics/NMPC-D…