Nullspace MPC updated to align the robot with the goal direction.

Nullspace MPC v1.0.1

Minor update with environment improvements and new features:

• Added GPU-ready Docker environment
• Introduced a lightweight config for low-resource machines
• Updated controller to follow the goal orientation

nullspace_mpc_demo_v101.mp4

Nullspace MPC is now open source!

Nullspace MPC v1.0.0 — First Stable Release 🚀

First stable release of Nullspace MPC — a novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a swerve-drive robot.

Nullspace MPC navigating in a maze environment (RViz visualization)

Highlights

• Nullspace MPC local planner for autonomous navigation.
  • It demonstrates better performance than baseline MPPI in challenging navigation tasks.
• Built-in support to also run baseline MPPI for comparison.
• Two operation modes:
  • Manual goal navigation (via RViz 2D Nav Goal)
  • Demo mode (multi-goal navigation from agenda YAML)
• Docker & native build support.
• Evaluation script with automatic logging and summary CSV.