98 citations · 135 across the 10 of their papers we have counts for
5 papers · 1 filter
Differentiable Nonlinear Model Predictive Control
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +5
The efficient computation of parametric solution sensitivities is a key challenge in the integration of learning-enhanced methods with nonlinear model predictive control (MPC), as…
Multi-Phase Optimal Control Problems for Efficient Nonlinear Model Predictive Control with acados
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +1
Computationally efficient nonlinear model predictive control relies on elaborate discrete-time optimal control problem (OCP) formulations trading off accuracy with respect to the c…
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…
HPIPM: a high-performance quadratic programming framework for model predictive control
Gianluca Frison, Moritz Diehl
This paper introduces HPIPM, a high-performance framework for quadratic programming (QP), designed to provide building blocks to efficiently and reliably solve model predictive con…
acados: a modular open-source framework for fast embedded optimal control
Robin Verschueren, Gianluca Frison, Dimitris Kouzoupis +7
This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level lang…