snake-GP-MPC

Research on autonomous gait learning of a snake robot, involving Gaussian process regression(GPR) and model predictive control(MPC).

References

[1]. A. Mohammadi, E. Rezapour, M. Maggiore and K. Y. Pettersen, “Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints”, IEEE Transactions on Control Systems Technology, vol. 24, no. 3, pp. 884-899, 2016.

[2]. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl and J. T. Gravdahl, “Snake Robots: Modelling, Mechatronics, and Control”, London: Springer, 2013.

More Details

For more details, please read "Readme.md" in each folder.

More MPC Examples

If you want to learn more examples about casADi and MPC, please browse my another repository "Snake-EMPC-casADI".