PlaCo: a QP-based robot planning and control framework
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866911255693885440 |
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| author | Duclusaud, Marc Passault, Grégoire Padois, Vincent Ly, Olivier |
| author_facet | Duclusaud, Marc Passault, Grégoire Padois, Vincent Ly, Olivier |
| contents | This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that abstracts away the low-level mathematical formulation of QP problems, allowing users to specify tasks and constraints in a modular and intuitive manner. The framework supports both Python bindings for rapid prototyping and a C++ implementation for real-time performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_06141 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | PlaCo: a QP-based robot planning and control framework Duclusaud, Marc Passault, Grégoire Padois, Vincent Ly, Olivier Robotics This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that abstracts away the low-level mathematical formulation of QP problems, allowing users to specify tasks and constraints in a modular and intuitive manner. The framework supports both Python bindings for rapid prototyping and a C++ implementation for real-time performance. |
| title | PlaCo: a QP-based robot planning and control framework |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.06141 |