alexliniger/MPCC

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1879 stars · 424 forks observed · 2026-10-07

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A C++ and Matlab implementation of a Model Predictive Contouring Controller (MPCC) for autonomous racing, developed at ETH Zurich's Automatic Control Lab. It solves a nonlinear MPC problem with bicycle vehicle dynamics and magic formula tire models, linearized into a time-varying QP solved via hpipm.

Use cases

• simulate a model predictive contouring controller for autonomous racing
• implement path-following MPC for a race car
• test obstacle avoidance with dynamic programming corridor planning
• study nonlinear MPC with bicycle model and tire dynamics
• compare QP solvers like hpipm, Yalmip, CVX for MPC

When to choose

• you need a proven MPCC formulation for autonomous racing research
• you want C++ or Matlab simulation environments for vehicle control
• you are building a driverless racing stack and need a path-following controller

When to avoid

• you need a production-ready controller for a real vehicle out of the box
• you want a general-purpose MPC library rather than racing-specific contouring control
• you need a high-fidelity simulator with graphics rather than a control algorithm

Facets

library · maturity active

simulation robotics autonomous-vehicles robotics simulation cpp cross-platform model-predictive-control autonomous-racing contouring-control quadratic-programming bicycle-model matlab optimization algorithms linux

Member repositories

For agents

markdown · JSON · MCP: product_card(name="alexliniger/MPCC")