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math.OC2024
Inherently robust suboptimal MPC for autonomous racing with anytime feasible SQP
Logan Numerow, Andrea Zanelli, Andrea Carron +1
In recent years, the increasing need for high-performance controllers in applications like autonomous driving has motivated the development of optimization routines tailored to spe…
math.OC2021★ 1 cited
Introducing the quadratically-constrained quadratic programming framework in HPIPM
Gianluca Frison, Jonathan Frey, Florian Messerer +2
This paper introduces the quadratically-constrained quadratic programming (QCQP) framework recently added in HPIPM alongside the original quadratic-programming (QP) framework. The…