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:

• NTG GitHub repository (current releases)
• Version 2.2a (tar file)

Other required software:

• NPSOL (available from Stanford Business Software; requires license)
• PGS software (included in NTG distribution)

Additional information:

• A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems
  Mark B. Milam, Kudah Mushambi, and Richard M. Murray
  2000 Conference on Decision and Control

• Inversion Based Trajectory Optimization
  Nicolas Petit, Mark B. Milam and Richard M. Murray
  IFAC Symposium on Nonlinear Control Systems Design (NOLCOS), 2001