Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
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.
Is your feature request related to a problem? Please describe.
I am working on a project that uses this crate, and we are looking to deploy the project in WebAssembly for use on the web. However, it appears that this library is not currently setup to handle this, and as such it prevents this from being possible as-is.
Describe the solution you'd like
I know of [one fork of this repo]
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
Unofficial Implementation of the paper "Data-Efficient Reinforcement Learning with Probabilistic Model Predictive Control", applied to gym environments
A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)
Is your feature request related to a problem? Please describe.
I am working on a project that uses this crate, and we are looking to deploy the project in WebAssembly for use on the web. However, it appears that this library is not currently setup to handle this, and as such it prevents this from being possible as-is.
Describe the solution you'd like
I know of [one fork of this repo]