3 papers
cs.RO2020
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay
Barbara Barros Carlos, Tommaso Sartor, Andrea Zanelli +4
The advances in computer processor technology have enabled the application of nonlinear model predictive control (NMPC) to agile systems, such as quadrotors. These systems are char…
math.OC2020
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…
cs.MS2019
The BLAS API of BLASFEO: optimizing performance for small matrices
Gianluca Frison, Tommaso Sartor, Andrea Zanelli +1
BLASFEO is a dense linear algebra library providing high-performance implementations of BLAS- and LAPACK-like routines for use in embedded optimization and other applications targe…