21 citations · 51 across the 17 of their papers we have counts for
19 papers
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning
Rudolf Reiter, Armin Nurkanovic, Daniele Bernadini +2
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies…
Finite Elements with Switch Detection for Numerical Optimal Control of Projected Dynamical Systems
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
The Finite Elements with Switch Detection (FESD) method is a highly accurate direct transcription method for optimal control of several classes of nonsmooth dynamical systems. This…
High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points -- Extended Version
Christian Dietz, Armin Nurkanović, Sebastian Albrecht +1
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high…
Advanced-Step Real-time Iterations with Four Levels -- New Error Bounds and Fast Implementation in acados
Jonathan Frey, Armin Nurkanovic, Moritz Diehl
The Real-Time Iteration (RTI) is an online nonlinear model predictive control algorithm that performs a single Sequential Quadratic Programming (SQP) per sampling time. The algorit…
Solving mathematical programs with complementarity constraints arising in nonsmooth optimal control
Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
This paper examines solution methods for mathematical programs with complementarity constraints (MPCC) obtained from the time-discretization of optimal control problems (OCPs) subj…
Approximate propagation of normal distributions for stochastic optimal control of nonsmooth systems
Florian Messerer, Katrin Baumgärtner, Armin Nurkanović +1
We present a method for the approximate propagation of mean and covariance of a probability distribution through ordinary differential equations (ODE) with discontinous right-hand…
Finite Elements with Switch Detection for Numerical Optimal Control of Nonsmooth Dynamical Systems with Set-Valued Heaviside Step Functions
Armin Nurkanović, Anton Pozharskiy, Jonathan Frey +1
This paper develops high-accuracy methods for numerically solving optimal control problems subject to nonsmooth differential equations with set-valued step functions. A notable sub…
FESD-J: Finite Elements with Switch Detection for Numerical Optimal Control of Rigid Bodies with Impacts and Coulomb Friction
Armin Nurkanović, Jonathan Frey, Anton Pozharskiy +1
The Finite Elements with Switch Detection (FESD) is a high-accuracy method for the numerical simulation and solution of optimal control problems subject to discontinuous ODEs. In t…
Finite Elements with Switch Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions
Armin Nurkanović, Jonathan Frey, Anton Pozharskiy +1
This paper extends the Finite Elements with Switch Detection (FESD) method [Nurkanović et al., 2022] to optimal control problems with nonsmooth systems involving set-valued step fu…
Frenet-Cartesian Model Representations for Automotive Obstacle Avoidance within Nonlinear MPC
Rudolf Reiter, Armin Nurkanović, Jonathan Frey +1
In recent years, nonlinear model predictive control (NMPC) has been extensively used for solving automotive motion control and planning tasks. In order to formulate the NMPC proble…
LCQPow -- A Solver for Linear Complementarity Quadratic Programs
Jonas Hall, Armin Nurkanovic, Florian Messerer +1
In this paper we introduce an open-source software package written in C++ for efficiently finding solutions to quadratic programming problems with linear complementarity constraint…
Direct Collocation for Numerical Optimal Control of Second-Order ODE
Léo Simpson, Armin Nurkanović, Moritz Diehl
Mechanical systems are usually modeled by second-order Ordinary Differential Equations (ODE) which take the form . While simulation methods tailored to…
Finite Elements with Switch Detection for Direct Optimal Control of Nonsmooth Systems
Armin Nurkanović, Mario Sperl, Sebastian Albrecht +1
This paper introduces Finite Elements with Switch Detection (FESD), a numerical discretization method for nonsmooth differential equations. We consider the Filippov convexification…
A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning Problems
David Kiessling, Andrea Zanelli, Armin Nurkanović +5
In this paper, we propose a Feasible Sequential Linear Programming (FSLP) algorithm applied to time-optimal control problems (TOCP) obtained through direct multiple shooting discre…
NOSNOC: A Software Package for Numerical Optimal Control of Nonsmooth Systems
Armin Nurkanović, Moritz Diehl
This letter introduces the NOnSmooth Numerical Optimal Control (NOSNOC) open-source software package. It is a modular MATLAB tool based on CasADi and IPOPT for numerically solving…
Continuous Optimization for Control of Hybrid Systems with Hysteresis via Time-Freezing
Armin Nurkanović, Moritz Diehl
This article regards numerical optimal control of a class of hybrid systems with hysteresis using solely techniques from nonlinear optimization, without any integer variables. Hyst…
The Time-Freezing Reformulation for Numerical Optimal Control of Complementarity Lagrangian Systems with State Jumps
Armin Nurkanović, Sebastian Albrecht, Bernard Brogliato +1
This paper introduces a novel time-freezing reformulation and numerical methods for optimal control of complementarity Lagrangian systems (CLS) with state jumps. We cover the diffi…
A Sequential Convex Programming Approach to Solving Quadratic Programs and Optimal Control Problems with Linear Complementarity Constraints
Jonas Hall, Armin Nurkanovic, Florian Messerer +1
Mathematical programs with complementarity constraints are notoriously difficult to solve due to their nonconvexity and lack of constraint qualifications in every feasible point. T…
A Time-Freezing Approach for Numerical Optimal Control of Nonsmooth Differential Equations with State Jumps
Armin Nurkanović, Tommaso Sartor, Sebastian Albrecht +1
We present a novel reformulation of nonsmooth differential equations with state jumps which enables their easier simulation and use in optimal control problems without the need of…