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Recent strides in nonlinear model predictive control (NMPC) underscore a dependence on numerical advancements to efficiently and accurately solve large-scale problems.
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Parallel programming in OpenMP
Rohit Chandra, Leo Dagum, David Kohr, Ramesh Menon, Dror Maydan, and Jeff McDonald · 2001
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Pardiso: A high-performance serial and parallel sparse linear solver in semiconductor device simulation
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Algorithm 849: A concise sparse cholesky factorization package
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Fast direct multiple shooting algorithms for optimal robot control
M. Diehl, H.G. Bock, H. Diedam, and P.-B. Wieber · 2006
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Numerical Optimization
Jorge Nocedal and Stephen J. Wright · 2006
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Algorithm 887: Cholmod, supernodal sparse cholesky factorization and update/downdate
Yanqing Chen, Timothy A. Davis, William W. Hager, and Sivasankaran Rajamanickam · 2008
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Eigen v3
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Synthesis and stabilization of complex behaviors through online trajectory optimization
Yuval Tassa, Tom Erez, and Emanuel Todorov · 2012
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A hierarchical time-splitting approach for solving finite-time optimal control problems
Georgios Stathopoulos, Tamas Keviczky, and Yang Wang · 2013
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An ô (log n) parallel algorithm for newton step computation in model predictive control
Isak Nielsen and Daniel Axehill · 2014
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A parallel structure exploiting factorization algorithm with applications to model predictive control
Isak Nielsen and Daniel Axehill · 2015
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A projection approach to equality constrained iterative linear quadratic optimal control
Markus Giftthaler and Jonas Buchli · 2017
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Graphical newton
Akshay Srinivasan and Emanuel Todorov · 2017
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Talos: A new humanoid research platform targeted for industrial applications
O. Stasse, T. Flayols, R. Budhiraja, K. Giraud-Esclasse, J. Carpentier, J. Mirabel, A. Del Prete, P. Souères, N. Mansard, F. Lamiraux, J.-P. Laumond, L. Marchionni, H. Tome, and F. Ferro · 2017
Proximal and sparse resolution of constrained dynamic equations
Justin Carpentier, Rohan Budhiraja, and Nicolas Mansard · 2021
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Equality constrained differential dynamic programming
Sarah Kazdadi, Justin Carpentier, and Jean Ponce · 2021
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Computing the newton-step faster than hessian accumulation
Akshay Srinivasan and Emanuel Todorov · 2021
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Whole-body model predictive control for biped locomotion on a torque-controlled humanoid robot
Ewen Dantec, Maximilien Naveau, Pierre Fernbach, Nahuel Villa, Guilhem Saurel, Olivier Stasse, Michel Taix, and Nicolas Mansard · 2022
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First order approximation of model predictive control solutions for high frequency feedback
Ewen Dantec, Michel Taïx, and Nicolas Mansard · 2022
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A highly parallelizable newton-type method for nonlinear model predictive control
Haoyang Deng and Toshiyuki Ohtsuka · 2018
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A family of iterative gauss-newton shooting methods for nonlinear optimal control
Markus Giftthaler, Michael Neunert, M. Stäuble, J. Buchli, and M. Diehl · 2018
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Reinforcement learning and optimal control
Dimitri Bertsekas · 2019
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The pinocchio c++ library – a fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
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Altro: A fast solver for constrained trajectory optimization
Taylor A. Howell, Brian E. Jackson, and Zachary Manchester · 2019
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Efficient computation of feedback control for equality-constrained lqr
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Constrained differential dynamic programming: A primal-dual augmented lagrangian approach
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Implicit differential dynamic programming
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Parameterized differential dynamic programming
Alex Oshin, Matthew D Houghton, Michael J. Acheson, Irene M. Gregory, and Evangelos Theodorou · 2022
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Mpcgpu: Real-time nonlinear model predictive control through preconditioned conjugate gradient on the gpu, September 2023
Emre Adabag, Miloni Atal, William Gerard, and Brian Plancher · 2023
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Leveraging proximal optimization for differentiating optimal control solvers
Oumayma Bounou, Jean Ponce, and Justin Carpentier · 2023
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Symmetric stair preconditioning of linear systems for parallel trajectory optimization, September 2023
Xueyi Bu and Brian Plancher · 2023
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Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El-Kazdadi, Nicolas Mansard, and Justin Carpentier · 2023
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Stagewise implementations of sequential quadratic programming for model-predictive control, December 2023
Armand Jordana, Sébastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, and Ludovic Righetti · 2023
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A unified perspective on multiple shooting in differential dynamic programming
He Li, Wenhao Yu, Tingnan Zhang, and Patrick M. Wensing · 2023
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A generalization of the riccati recursion for equality-constrained linear quadratic optimal control, June 2023
Lander Vanroye, Joris De Schutter, and Wilm Decré · 2023
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