98 citations · 412 across the 57 of their papers we have counts for
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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…
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…
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…
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…
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…
LCQPow -- A Solver for Linear Complementarity Quadratic Programs
Jonas Hall, Armin Nurkanovic, Florian Messerer +1
In this paper we introduce an open-source software package written in C++ for efficiently finding solutions to quadratic programming problems with linear complementarity constraint…