21 citations · 50 across the 18 of their papers we have counts for
4 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…
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…
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…
Local Convergence Behaviour of Generalized Gauss-Newton Multiple Shooting, Single Shooting and Differential Dynamic Programming
Katrin Baumgärtner, Florian Messerer, Moritz Diehl
We revisit three classical numerical methods for solving unconstrained optimal control problems - multiple shooting, single shooting, and differential dynamic programming - and exa…