Control
Foundation
Kinematics and Dynamics
Kinematics and Dynamics for Robotics: https://github.com/ANYbotics/kindr
State Estimation
- Kalman Filter Book
- Tutorial: A practical approach to Kalman filter and how to implement it
- AHRS: Attitude and Heading Reference Systems: ahrs.readthedocs.io/
- MEKF: https://matthewhampsey.github.io/blog/2020/07/18/mekf
Model Predictive Control
- UC Berkeley MPC Book: http://www.mpc.berkeley.edu/mpc-course-material
- Model predictive control python toolbox: https://www.do-mpc.com/en/latest/index.html
Optimal Control
- Underactuated Robotics: http://underactuated.mit.edu/index.html
- PSOPT: https://github.com/PSOPT/psopt
Control Library/Toolbox
Numerical Optimization
- SCS (splitting conic solver): https://github.com/cvxgrp/scs
- OSQP (Operator Splitting Quadratic Program): https://osqp.org/
- Ipopt (Interior Point Optimizer): https://coin-or.github.io/Ipopt/
Optimal Control
- PSOPT: https://github.com/PSOPT/psopt
Control Toolbox
- ETH Control Toolbox: https://github.com/ethz-adrl/control-toolbox
- MIT Drake Toolbox: https://drake.mit.edu/