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 nonlinear model predictive control in action, reach out to get featured. Enjoy! 🍿

Quadrotor control: Leveraging different models in a multi-phase optimal control problem 🖇️ Reiter et al. (2025): Unifying Quadrotor Motion Planning and Control by Chaining Different Fidelity Models

Mobile robots: Blending trajectory optimization and path planning with a multi-phase NMPC controller 🖇️ Köhler et al. (2025): An MPC framework for efficient navigation of mobile robots in cluttered environments

Drone racing: Quadrotor control 🖇️ Romero et al. (2022)

Driving assistance: acados is used within openpilot See blog post here

Bird-like drones 🖇️ Wüest et al. (2024)

Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning 🖇️ He et al. (2024)

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Swinging up a Custom-Made Furuta Pendulum with NMPC using acados (Slow Motion)

Flight Control: Dynamics Learning for Quadrotor Control 🖇️ Saviolo et al. (2023)

Flight Control: Overactuated Tiltable-Quadrotors 🖇️ Li et al. (2024)

Flight Control: Reactive Collision Avoidance for Safe Agile Navigation 🖇️ Saviolo et al. (2024)

MPC of an Autonomous Warehouse Vehicle with Tricycle Kinematic 🖇️ Subash et al. (2024)