50 citations · 79 across the 19 of their papers we have counts for
3 papers · 1 filter
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…
Fast integrators with sensitivity propagation for use in CasADi
Jonathan Frey, Jochem De Schutter, Moritz Diehl
Efficient integrators with sensitivity propagation are an essential ingredient for the numerical solution of optimal control problems. This paper gives an overview on the acados in…
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Alessandro Saviolo, Jonathan Frey, Abhishek Rathod +2
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence…