50 citations · 79 across the 19 of their papers we have counts for
7 papers · 1 filter
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)…
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…
Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC
Yunfan Gao, Florian Messerer, Jonathan Frey +2
This paper presents an implementation of robust model predictive control (MPC) for collision-free reference trajectory tracking for mobile robots. The presented approach considers…
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…
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…
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…