MPC-HC's main repository. For support use our Trac: https://trac.mpc-hc.org/

Motion planning algorithms commonly used on autonomous vehicles. (path planning + path tracking)

Real-time behaviour synthesis with MuJoCo, using Predictive Control

Optimal Control for Switched Systems

Privacy-Preserving Computing Platform 由密码学专家团队打造的开源隐私计算平台，支持多方安全计算、联邦学习、隐私求交、匿踪查询等。

etlp - Emby/Jellyfin 调用外部本地播放器，并回传播放记录。适配 Plex。

MSFvenom Payload Creator (MSFPC)

Versatile framework for multi-party computation

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

Deep RL for MPC control of Quadruped Robot Locomotion

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

OpenHuFu is an open-sourced data federation system to support collaborative queries over multi databases with security guarantee.

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

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.

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

Python codes for advanced control

Policy Search for Model Predictive Control with Application to Agile Drone Flight

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

Sample code and build environments for MPC frameworks