PlaCo: a QP-based robot planning and control framework

2025/11/08 by Marc Duclusaud, Grégoire Passault, Duclusaud, Marc +5
Computer Science · #AI-based Problem Solving and Planning #FOS: Computer and information sciences #Formal Methods in Verification #Robotic Path Planning Algorithms #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.2511.06141

openalex publication_date 2025/11/08 · openalex created_date 2025/11/12 · openalex updated_date 2026/07/28

Abstract

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.

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