mpc_local_planner ROS Package ============================= The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. ## Authors * Christoph Rösmann ### Citing the Software *Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the software for published work.* **Standard MPC and Hypergraph** - C. Rösmann, M. Krämer, A. Makarow, F. Hoffmann und 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. **Time-Optimal MPC and Hypergraph** - 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, TU Dortmund University, Oct. 2019. - 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. - C. Rösmann, F. Hoffman und T. Bertram: Convergence Analysis of Time-Optimal Model Predictive Control under Limited Computational Resources, European Control Conference (ECC), Denmark, June 2016. ### License Copyright (c) 2020, TU Dortmund - Institute of Control Theory and Systems Engineering. All rights reserved. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . The package depends on third-party packages: - *control_box_rst*, GPLv3, https://github.com/rst-tu-dortmund/control_box_rst Please check also the dependencies of control_box_rst (not all modules are included at the moment) - *Ipopt*, EPL 1.0, https://github.com/coin-or/Ipopt It depends on other ROS packages, which are listed in the package.xml. They are licensed under BSD resp. Apache 2.0. ### Requirements Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*: rosdep install mpc_local_planner