4 papers
Advanced-Step Real-time Iterations with Four Levels -- New Error Bounds and Fast Implementation in acados
Jonathan Frey, Armin Nurkanovic, Moritz Diehl
The Real-Time Iteration (RTI) is an online nonlinear model predictive control algorithm that performs a single Sequential Quadratic Programming (SQP) per sampling time. The algorit…
Solving mathematical programs with complementarity constraints arising in nonsmooth optimal control
Armin NurkanoviÄ, Anton Pozharskiy, Moritz Diehl
This paper examines solution methods for mathematical programs with complementarity constraints (MPCC) obtained from the time-discretization of optimal control problems (OCPs) subj…
Finite Elements with Switch Detection for Numerical Optimal Control of Nonsmooth Dynamical Systems with Set-Valued Heaviside Step Functions
Armin NurkanoviÄ, 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…
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning
Rudolf Reiter, Armin Nurkanovic, Daniele Bernadini +2
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies…