{"id":13716958,"url":"https://github.com/rst-tu-dortmund/mpc_local_planner","last_synced_at":"2025-05-12T09:55:26.901Z","repository":{"id":44460002,"uuid":"241604678","full_name":"rst-tu-dortmund/mpc_local_planner","owner":"rst-tu-dortmund","description":"The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. 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Rösmann, A. Makarow, and T. Bertram: Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, [arXiv:2006.03534 '[cs.RO]'](https://arxiv.org/abs/2006.03534), June 2020.\n\n**Standard MPC and Hypergraph**\n\n- C. Rösmann, M. Krämer, A. Makarow, F. Hoffmann and T. Bertram: Exploiting Sparse Structures in Nonlinear Model Predictive Control with Hypergraphs, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), New Zealand, July 2018.\n\n**Time-Optimal MPC and Hypergraph**\n\n- C. Rösmann: [Time-optimal nonlinear model predictive control, Direct transcription methods with variable discretization and structural sparsity exploitation](http://dx.doi.org/10.17877/DE290R-20283). Dissertation, Technische Universität Dortmund, Oct. 2019.\n- C. Rösmann, F. Hoffmann und T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, European Control Conference (ECC), Austria, July 2015.\n\n\n\u003ca href=\"https://www.buymeacoffee.com/croesmann\" target=\"_blank\"\u003e\u003cimg src=\"https://www.buymeacoffee.com/assets/img/guidelines/download-assets-sm-2.svg\" alt=\"Buy Me A Coffee\"\u003e\u003c/a\u003e\n\n## License\n\nCopyright (c) 2020, Christoph Rösmann, All rights reserved.\n\nThis program is free software: you can redistribute it and/or modify\nit under the terms of the GNU General Public License as published by\nthe Free Software Foundation, either version 3 of the License, or\n(at your option) any later version.\n\nThis program is distributed in the hope that it will be useful,\nbut WITHOUT ANY WARRANTY; without even the implied warranty of\nMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\nGNU General Public License for more details.\n\nYou should have received a copy of the GNU General Public License\nalong with this program.  If not, see \u003chttps://www.gnu.org/licenses/\u003e.\n\nThe package depends on third-party packages:\n- *control_box_rst*, GPLv3, https://github.com/rst-tu-dortmund/control_box_rst\n  Please check also the dependencies of control_box_rst (not all modules\n  are included at the moment)\n- *Ipopt*, EPL 1.0, https://github.com/coin-or/Ipopt\n\n\nIt depends on other ROS packages, which are listed in the package.xml. They are licensed under BSD resp. Apache 2.0.\n\n\n## Requirements\n\nInstall dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*:\n\n    rosdep install mpc_local_planner\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frst-tu-dortmund%2Fmpc_local_planner","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frst-tu-dortmund%2Fmpc_local_planner","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frst-tu-dortmund%2Fmpc_local_planner/lists"}