1 citations · 2 across the 3 of their papers we have counts for
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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…
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…