6 papers
CCOpt: an Open-Source Solver for Large-Scale Mathematical Programs with Complementarity Constraints
Anton Pozharskiy, François Pacaud, Moritz Diehl +1
This paper presents the Julia package CCOpt, built on top of the interior-point solver MadNLP. CCOpt implements a suite of algorithms for Mathematical Programs with Complementarity…
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Christian Dietz, Sebastian Albrecht, Gianluca Frison +2
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods…
Identification of a Kalman filter: consistency of local solutions
Léo Simpson, Moritz Diehl
Prediction error and maximum likelihood methods are powerful tools for identifying linear dynamical systems and, in particular, enable the joint estimation of model parameters and…
Differentiable Nonlinear Model Predictive Control
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +5
The efficient computation of parametric solution sensitivities is a key challenge in the integration of learning-enhanced methods with nonlinear model predictive control (MPC), as…
Distributed AC Optimal Power Flow: A Scalable Solution for Large-Scale Problems
Xinliang Dai, Yuning Jiang, Yi Guo +3
This paper introduces a novel distributed optimization framework for large-scale AC Optimal Power Flow (OPF) problems, offering both theoretical convergence guarantees and rapid co…
Multi-Phase Optimal Control Problems for Efficient Nonlinear Model Predictive Control with acados
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +1
Computationally efficient nonlinear model predictive control relies on elaborate discrete-time optimal control problem (OCP) formulations trading off accuracy with respect to the c…