Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

ROS stack with an efficient real-time NMPC for the Crazyflie 2.1

ROS2 package that implements a nonlinear model predictive control (NMPC) pipeline for trajectory tracking for aerial vehicles that use the PX4 Autopilot

A distributed whole-body model predictive control for quadruped robots

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

Model Predictive Control for Quadrotor using acados

Vehicle dynamics with a sophisticated friction model and drive-train model that can be used to augment any multi-body simulation (such as Gazebo) involving vehicles.

Model Predictive Controller for a quadcopter model using Acados nlp optimization

Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.

Ros2 vendor for the Acados NMPC solver.

C++ wrapper to dynamically run C code generated by ACADOS

This docker has Acados, Casadi, neural mpc and ROS Noetic for NVIDIA Jetson. It has been tested on a Jetson Nano and Jetson Orin NX

Code of the IV2025 paper "Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers" Author: Oliver Schumann

Decentralized Tube-Based Model Predictive Controller. Master Thesis project 2024

Docker file of ML-Casadi, acados and ROS

Standalone Implementation of Predictive Admittance Control for Aerial Physical Interaction Control in Python with Acados and MuJoCo.

Research code behind custom SAC, NMPC, VAEs and other stuff for machine-learning based autonomous ship trajectory planning. Developed as part of the Autoship Centre for Research-based Innovation (SFI). Open sourced in November 2025.

Example application for the acados_solver_ros2 package.