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ctu-mrs / pmm_uav_planner

PMM UAV planner
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Agilicious Submodule #2

Closed Codaero closed 1 month ago

Codaero commented 1 month ago

In the paper it mentions you use a nonlinear MPC controller to track the trajectory generated by your PMM planner. It looks like you've included agilicious as a submodule so I'm assuming you are using their MPC controller implementation?

novosma commented 1 month ago

Ahh, sorry about that and thank you for pointing it out. It is a leftover from a really early phase of development. I have removed it from the repository.

We do don't use agilicious at all. We use MRS system (https://github.com/ctu-mrs/mrs_uav_system), and our own implementation of nonlinear MPC controller, which we plan to publish in near future.

We have not tested it, yet we assume agilicious solution could probably also be used, but some output csv adjustments might be necessary.

KennethYangle commented 6 days ago

Hi! Could you share which open-source project, if any, the nonlinear MPC is based on? Looking forward to seeing your upcoming publication!