https://github.com/dbenders1/rohmpc-anonymous
Science Score: 26.0%
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Low similarity (12.5%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: dbenders1
- License: mit
- Language: C++
- Default Branch: master
- Size: 208 MB
Statistics
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
rohmpc
ICRA 2026 submission
The reference implementation of our ICRA 2026 submission:
From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
Summary
In this work, we propose the following pipeline for the synthesis of robust (output-feedback) MPC schemes as visualized in this figure (does not load correctly on Anonymous GitHub).
This pipeline is:
:stopwatch: Efficient - Within 2 hours, you can have a robust output-feedback MPC scheme running with empirical guarantees on robust constraint satisfaction and recursive feasibility!
:jigsaw: Modular - The design pipeline allows to integrate your own dynamic model and adjust other system properties to customize the setup for your own application!
:repeat: Reproducible - All simulations are deterministic: they will give the same results every run through the use of random seeds. You missed some data? No problem, you can re-run the pipeline at any time to regenerate the results!
Visit the following links to see how each of the steps in the pipeline is implemented. 1. Uncertainty quantification 2. Robust and terminal ingredients design 3. Tightening calibration 4. ROHMPC deployment and analysis
This animation shows the ROHMPC framework operating in a Gazebo simulation.
We challenge you to reproduce this result in our paper! :wink:
How to get started?
Interested in reproducing our results and extending them for your own work? No problem!
This repository contains the code and documentation to reproduce the presented Gazebo simulations in the paper. We also provide a simple simulation node for control over the simulated quadrotor dynamics.
To get started, clone this repository and follow the instructions in the src README.
Acknowledgement
The results in this repository are based on an adjusted version of the Agilicious stack.
Owner
- Name: Dennis Benders
- Login: dbenders1
- Kind: user
- Company: Delft University of Technology
- Repositories: 1
- Profile: https://github.com/dbenders1
Hi! My name is Dennis Benders. I am a PhD candidate working on robust motion planning and control with interests in developing software stacks for robot control
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Last Year
- Watch event: 1
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Dependencies
- ros melodic build
- casadi ==3.5.5
- matplotlib *
- numpy *
- pyyaml *
- scikit-learn *
- scipy *
- matplotlib *
- numpy *
- pyyaml *