284 citations · 748 across the 9 of their papers we have counts for
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cs.RO2018★ 23 cited
A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control
Markus Giftthaler, Jonas Buchli
This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the numbe…
cs.RO2018★ 67 cited
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +1
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is appli…