Related papers: The Control Toolbox - An Open-Source C++ Library f…
The Combustion Toolbox (CT) is a newly developed open-source thermochemical code designed to solve problems involving chemical equilibrium for both gas- and condensed-phase species. The kernel of the code is based on the theoretical…
In this paper we introduce MATMPC, an open source software built in MATLAB for nonlinear model predictive control (NMPC). It is designed to facilitate modelling, controller design and simulation for a wide class of NMPC applications. MATMPC…
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…
The paper develops the Adaptive Dynamic Programming Toolbox (ADPT), which solves optimal control problems for continuous-time nonlinear systems. Based on the adaptive dynamic programming technique, the ADPT computes optimal feedback…
We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while…
Robotic Template Library (RTL) is a set of tools for dealing with geometry and point cloud processing, especially in robotic applications. The software package covers basic objects such as vectors, line segments, quaternions, rigid…
We present the first version of the QEngine, an open-source C++ library for simulating and controlling ultracold quantum systems using optimal control theory (OCT). The most notable systems presented here are Bose-Einstein condensates,…
This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier functions for mobility systems within both deterministic and…
The level of maturity reached by robust control theory techniques nowadays contributes to a considerable minimization of the development time of an end-to-end control design of a spacecraft system. The advantage offered by this framework is…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
We propose a new diagrammatic modeling language, DML. The paradigm used is that of the category theory and in particular of the pushout tool. We show that most of the object-oriented structures can be described with this tool and have many…
The development of the mlpack C++ machine learning library (http://www.mlpack.org/) has required the design and implementation of a flexible, robust optimization system that is able to solve the types of arbitrary optimization problems that…
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in robotics. Both TO and MPC are increasingly receiving interest in optimal control and in particular…
This paper presents a MATLAB toolbox for implementing robust-to-early termination model predictive control, abbreviated as REAP, which is designed to ensure a sub-optimal yet feasible solution when MPC computations are prematurely…
This paper demonstrates the integration model-based design approaches or vehicle control, with validation in a freely available open-source simulator. Continued interest in autonomous vehicles and their deployment is driven by the potential…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
We present SmartGridToolbox: a C++ library for simulating modern and future electricity networks. SmartGridToolbox is distinguished by the fact that it is a general purpose library (rather than an application), that emphasizes flexibility,…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
We introduce QCLAB, an object-oriented MATLAB toolbox for constructing, representing, and simulating quantum circuits. Designed with an emphasis on numerical stability, efficiency, and performance, QCLAB provides a reliable platform for…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…