284 citations · 405 across the 3 of their papers we have counts for
4 papers
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…
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +2
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting varia…
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
Michael Neunert, Markus Stäuble, Markus Giftthaler +5
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes…
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble +3
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradi…