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Nullspace MPC is now open source!

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@MizuhoAOKI MizuhoAOKI released this 15 Aug 10:19
· 7 commits to main since this release
v1.0.0
d2f5226

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 demo in RViz

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.
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