NTG - a library for real-time trajectory generation

Mark Milam, Kudah Mushambi, Richard Murray
Version 2.2, 2 February 2002

NTG (Nonlinear Trajectory Generation) is a software library for solving online optimal control problems. It uses a collocation technique to compute optimal trajectories very quickly, allowing online implementation of optimization-based control.

This software is provided "as is" and is copyrighted by the California Institute of Technology. It may be used without charge for all non-profit applications. Please contact Richard Murray if you are interested in licensing the software for use in commercial applications.

Source code:

Other required software:

Additional information:

Richard Murray (murray@cds. caltech.edu)