acados
- Software
- Robot arms and industry
- Library
acados is a C library with Python, MATLAB and Octave interfaces that provides fast embedded solvers for nonlinear optimal control, aimed at real-time MPC and MHE.
Made by acados.
Source on GitHub: github.com/acados/acados (opens in a new tab). Facts read at commit 908bab9 (opens in a new tab).
Licenses
- Code
- BSD-2-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit 908bab9 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Solves nonlinear optimal control problems for nonlinear model predictive control and moving horizon estimation.
- Exploits the optimal control problem structure through tailored QP solvers such as HPIPM and condensing methods.
- Supports differential algebraic equations and multiple shooting time discretization.
- Provides integrators for ODEs and DAEs with first- and second-order sensitivities.
- Allows multi-stage problems where functions and dimensions can vary between stages, with freely combinable solvers.
- Specifies problems through CasADi expressions and an AcadosOcp class, with solution sensitivities usable in reinforcement learning.
Written by Robotheca from the project's README (opens in a new tab) at commit 908bab9.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 16 Oct 2026 on main
- Latest release
- v0.6.0 (6 Aug 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.