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arXiv · 2511.06141

PlaCo: a QP-based robot planning and control framework

Marc Duclusaud·Grégoire Passault·Vincent Padois·Olivier Ly
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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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Marc Duclusaud, Grégoire Passault, Vincent Padois, Olivier Ly. 2025-11-08. PlaCo: a QP-based robot planning and control framework. https://arxiv.org/abs/2511.06141

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