Resources

Opty emerged from initial work done in the summer of 2014 that sought controller parameter identification solutions for human standing and walking which is explained in this report:

J. K. Moore, “NCSRR Visiting Scholar Wrap Up,” Aug. 2014. https://www.moorepants.info/blog/ncsrr-wrap-up.html

After that initial success, the software was generalized to work with any dynamic system described by symbolic differential algebraic equations.

Presentations About Opty

Opty was introduced at SciPy 2015:

J. K. Moore, “Optimal Control and Parameter Identification of Dynamical Systems with Direct Collocation using SymPy,” presented at SciPy 2015, Austin, Texas, USA, July 08, 2015. https://www.youtube.com/embed/ZJiYs2HuQy8

and at ISB TGCS 2015:

Ten years later, an updated version was presented at ISB TGCS 2025:

J. K. Moore, S. Brockie, T. Stienstra, and T. van den Bogert, “Fast Symbolic Methods for Muscle-driven Optimal Control,” presented at the 20th International Symposium on Computer Simulation in Biomechanics, Uppsala, Sweden, July 25, 2025. https://tinyurl.com/tgcs2025-moore

Publications About or That Use Opty

  1. Stahlecker, Peter, “PST Notebooks,” 2025. https://www.pydy.org/pst-notebooks/

  2. Sorgedrager, Simon, “Riding a Bicycle Without Hands: How To Do It and the Bicycle Dynamics Behind It,” 2025, MSc, Delft University of Technology. https://resolver.tudelft.nl/uuid:ee22c5d1-b27f-4542-8a49-71d92a9e2f55

  3. poine, “Projet Dronisos,” 2024. https://poine.github.io/projet_dronisos_guidage/

  4. B. Humphreys et al., “Attitude Profile Reference for the Earth Orbit Raising Phase of NASA Gateway’s Co-Manifested Vehicle,” in Proceedings of the 44th Annual American Astronautical Society Guidance, Navigation, and Control Conference, 2022, M. Sandnas and D. B. Spencer, Eds., Cham: Springer International Publishing, 2024, pp. 471–488. https://dx.doi.org/10.1007/978-3-031-51928-4_28.

  5. Y. Cai and Z. Ren, “PWTO: A Heuristic Approach for Trajectory Optimization in Complex Terrains,” 2024.

  6. R. G. Margiotta, S. Goldt, and G. Sanguinetti, “Attacks on Online Learners: a Teacher-Student Analysis,” in Advances in Neural Information Processing Systems, Dec. 2023, pp. 22735–22753. https://proceedings.neurips.cc/paper_files/paper/2023/hash/46e37aeccafc3b4b697b17b8a36f3b30-Abstract-Conference.html

  7. T. J. Stienstra, S. G. Brockie, and J. K. Moore, “BRiM: A modular bicycle-rider modeling framework,” presented at the Bicycle and Motorcycle Dynamics 2023, Delft, The Netherlands: TU Delft OPEN Publishing, Oct. 2023. https://doi.org/10.59490/660179a06bf1082286458109

  8. G. Gutow and J. D. Rogers, “AND/OR search techniques for chance constrained motion primitive path planning,” Robotics and Autonomous Systems, vol. 149, p. 103991, Mar. 2022, https://dx.doi.org/10.1016/j.robot.2021.103991.

  9. poine, “Glider experiments,” 2021. https://poine.github.io/glider_experiments/

  10. J. K. Moore and A. van den Bogert, “opty: Software for trajectory optimization and parameter identification using direct collocation,” JOSS, vol. 3, no. 21, p. 300, Jan. 2018. https://dx.doi.org/10.21105/joss.00300

  11. J. K. Moore, “NCSRR Visiting Scholar Wrap Up,” Aug. 2014. https://www.moorepants.info/blog/ncsrr-wrap-up.html