.. _real_world_examples:

==================
Real-world examples
==================

This page shows some real-world examples enabled by ``acados``.
The list is not complete and is meant to show a variety of domains and applications.
It is intended to inspire and impress.
If you have awesome videos with ``acados``-based controllers in action, reach out to get featured.
Enjoy! |:popcorn:|

..    Check this documentation for embedding YouTube videos:
..    https://sphinxcontrib-youtube.readthedocs.io/en/latest/usage.html


.. rubric:: Drone racing: Quadrotor control
|:linked_paperclips:| `Romero et al. (2022) <https://arxiv.org/abs/2203.09839>`_

.. youtube:: zBVpx3bgI6E
   :width: 50%
   :url_parameters: ?start=86


.. rubric:: Driving assistance: acados is used within openpilot
See blog post `here <https://blog.comma.ai/0810release/>`_

.. youtube:: 0aq4Wi2rsOk
   :width: 50%
   :url_parameters: ?start=152


.. rubric:: Bird-like drones
|:linked_paperclips:| `Wüest et al. (2024) <https://www.nature.com/articles/s41467-024-52369-4>`_

.. youtube:: Mv3I3Bv8UyQ
   :width: 50%
   :url_parameters: ?start=116


.. rubric:: Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning
|:linked_paperclips:| `He et al. (2024) <https://arxiv.org/abs/2504.10334>`_

.. raw:: html

    <style>
    .video-wrapper {
        max-width: 50%;
        margin: 1em 0;
    }
    .video-wrapper .responsive-video {
        position: relative;
        width: 100%;
        padding-bottom: 56.25%; /* 16:9 */
        height: 0;
        overflow: hidden;
    }
    .video-wrapper .responsive-video video {
        position: absolute;
        top: 0;
        left: 0;
        width: 100%;
        height: 100%;
    }
    </style>

    <div class="video-wrapper">
      <div class="responsive-video">
        <video controls>
          <source src="https://lecar-lab.github.io/flying_hand/static/videos/teaser.mp4" type="video/mp4">
          Your browser does not support the video tag.
        </video>
      </div>
    </div>
````

.. rubric:: Swinging up a Custom-Made Furuta Pendulum with NMPC using acados (Slow Motion)
.. youtube:: oJYyD5beMqM
   :width: 30%
   :aspect: 9:16


.. rubric:: Flight Control: Overactuated Tiltable-Quadrotors
|:linked_paperclips:| `Li et al. (2024) <https://arxiv.org/abs/2405.09871>`_

.. youtube:: 8_pYdeuQnC0
   :width: 50%
   :url_parameters: ?start=59

.. rubric:: MPC of an Autonomous Warehouse Vehicle with Tricycle Kinematic
|:linked_paperclips:| `Subash et al. (2024) <https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10802822>`_

.. youtube:: NDta6AD5WCA
   :width: 50%
   :url_parameters: ?start=0