48 citations · 51 across the 10 of their papers we have counts for
10 papers
Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados
Jonathan Frey, Yunfan Gao, Florian Messerer +3
Robust and stochastic optimal control problem (OCP) formulations allow a systematic treatment of uncertainty, but are typically associated with a high computational cost. The recen…
Gauss-Newton Runge-Kutta Integration for Efficient Discretization of Optimal Control Problems with Long Horizons and Least-Squares Costs
Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
This work proposes an efficient treatment of continuous-time optimal control problem (OCP) with long horizons and nonlinear least-squares costs. The Gauss-Newton Runge-Kutta (GNRK)…
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…
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Ricard Bordalba, Tobias Schoels, Lluís Ros +2
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may al…
Imitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximation
Andrea Ghezzi, Jasper Hoffman, Jonathan Frey +2
This work presents a novel loss function for learning nonlinear Model Predictive Control policies via Imitation Learning. Standard approaches to Imitation Learning neglect informat…
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…