About PyTrajectory

PyTrajectory is a Python library for trajectory generation for nonlinear control systems. It relies on solving a boundary value problem (bvp) via a collocation method. It is based on the scientific work of Graichen et al., but does not depend on proprietary code like Matlabs bvp4c.

PyTrajectory is developed at Dresden University of Technology at the Institute for Control Theory, see also other control related software.

Based on the project thesis of Oliver Schnabel under the supervision of Carsten Knoll in February 2013 it has been further developed by Andreas Kunze to increase its numeric performance.

Contacts

If you face any problems using PyTrajectory, feel free to contact us.

  • andreas.kunze <at> mailbox.tu-dresden.de
  • carsten.knoll <at> tu-dresden.de

Licence

Copyright (c) 20013-2016 Oliver Schnabel, Andreas Kunze, Carsten Knoll

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

  a. Redistributions of source code must retain the above copyright notice,
     this list of conditions and the following disclaimer.
  b. Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in the
     documentation and/or other materials provided with the distribution.
  c. Neither the name of PyTrajectory nor the names of its contributors
     may be used to endorse or promote products derived from this software
     without specific prior written permission.


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