mpc_local_planner - The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack

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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. For custom build instructions (e.g. compilation with other third-party solvers) see this wiki.

http://wiki.ros.org/mpc_local_planner
https://github.com/rst-tu-dortmund/mpc_local_planner

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