Embedded learning and optimization for the next generation of smart industrial control systems

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Algorithm prototype implementations

Report om algorithm prototype implementations

2nd technical report on algorithms

2nd technical report on algorithms hierarchical multiscale methods for embedded MPC

2nd Dissemination and public engagement strategy repor

2nd Dissemination and public engagement strategy report

Midterm report on dissemination & communication

Midterm report on dissemination communication

1st technical report on algorithms

1st technical report on algorithms optimization algorithms for nonconvex problems and convergence analysis

Online training inventory

Online inventory for training material

1st technical report on applications

1st technical report on applications modeling of partner applications

1st technical report on implementations

1st technical report on implementations summary and analysis of requirements for learningbased MPC on embedded devices

1st Dissemination and public engagement strategy repor

1st Dissemination and public engagement strategy report

Initial network publlic web-page

Initial ELO-X public web-page

1st ELO-X seasonal school

1st ELO-X seasonal school in Leuven

2nd ELO-X seasonal school

2nd ELO-X seasonal school in Freiburg

1st ELO-X workshop

1st ELO-X workshop in Leuven

Series of ELO-X webinars

Publications

On Recurrent Neural Networks for learning-based control: recent results and ideas for future developments

Author(s): Fabio Bonassi; Marcello Farina; Jing Xie; Riccardo Scattolini
Published in: Journal of Process Control, Issue vol. 114, 2022, Page(s) 92-104, ISSN 0959-1524
Publisher: Butterworth Scientific Ltd.
DOI: 10.48550/arxiv.2111.13557

Stability Analysis of Nonlinear Model Predictive Control With Progressive Tightening of Stage Costs and Constraints

Author(s): Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl
Published in: IEEE Control Systems Letters, Issue 7, 2024, Page(s) 3018-3023, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3289707

SPOCK: A proximal method for multistage risk-averse optimal control problems

Author(s): Alexander Bodard, Ruairi Moran, Mathijs Schuurmans, Panagiotis Patrinos, Pantelis Sopasakis
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 1944-1951, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1086

Time-optimal Point-to-point Motion Planning: A Two-stage Approach

Author(s): Shuhao Zhang, Jan Swevers
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 139-145, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.022

A Dual-Control Effect Preserving Formulation for Nonlinear Output-Feedback Stochastic Model Predictive Control With Constraints

Author(s): Florian Messerer, Katrin Baumgartner, Moritz Diehl
Published in: IEEE Control Systems Letters, Issue 7, 2024, Page(s) 1171-1176, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3230552

Adaptive proximal algorithms for convex optimization under local Lipschitz continuity of the gradient

Author(s): Puya Latafat, Andreas Themelis, Lorenzo Stella, Panagiotis Patrinos
Published in: Mathematical Programming, 2024, ISSN 0025-5610
Publisher: Springer Verlag
DOI: 10.1007/s10107-024-02143-7

Massively parallelizable proximal algorithms for large‐scale stochastic optimal control problems

Author(s): Ajay K. Sampathirao, Panagiotis Patrinos, Alberto Bemporad, Pantelis Sopasakis
Published in: Optimal Control Applications and Methods, Issue 45, 2024, Page(s) 45-63, ISSN 0143-2087
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/oca.3054

Real-time MPC with Control Barrier Functions for Autonomous Driving using Safety Enhanced Collocation

Author(s): Jean Pierre Allamaa, Panagiotis Patrinos, Toshiyuki Ohtsuka, Tong Duy Son
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 392-399, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.058

Zero-order optimization for Gaussian process-based model predictive control

Author(s): Amon Lahr, Andrea Zanelli, Andrea Carron, Melanie N. Zeilinger
Published in: European Journal of Control, Issue 74, 2024, Page(s) 100862, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100862

Model Predictive Controller for Hydraulic Cylinders with Independent Metering Control Valves*

Author(s): Leonardo Cecchin, Toshiyuki Ohtsuka, Adrian Trachte, Moritz Diehl
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 281-287, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.044

FESD-J: Finite Elements with Switch Detection for numerical optimal control of rigid bodies with impacts and Coulomb friction

Author(s): Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Published in: Nonlinear Analysis: Hybrid Systems, Issue 52, 2024, Page(s) 101460, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/j.nahs.2023.101460

Learning Control Affine Neural NARX Models for Internal Model Control Design

Author(s): Jing Xie, Fabio Bonassi, Riccardo Scattolini
Published in: IEEE Transactions on Automation Science and Engineering, Issue 22, 2025, Page(s) 8137-8149, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3479321

Learning-Based NMPC Adaptation for Autonomous Driving Using Parallelized Digital Twin

Author(s): Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Published in: IEEE Transactions on Control Systems Technology, 2024, Page(s) 1-16, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2024.3437163

Stability of Progressively Tightening Model Predictive Control in Continuous Time

Author(s): Katrin Baumgärtner, Moritz Diehl
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 349-355, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.054

Douglas-Rachford splitting and ADMM for nonconvex optimization: accelerated and Newton-type linesearch algorithms

Author(s): Andreas Themelis; Lorenzo Stella; Panagiotis Patrinos
Published in: Computational Optimization and Applications, Issue 82-2, 2022, ISSN 0926-6003
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10589-022-00366-y

Finite Elements with Switch Detection for numerical optimal control of nonsmooth dynamical systems with set-valued heaviside step functions

Author(s): Armin Nurkanović, Anton Pozharskiy, Jonathan Frey, Moritz Diehl
Published in: Nonlinear Analysis: Hybrid Systems, Issue 54, 2024, Page(s) 101518, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/j.nahs.2024.101518

Approximate propagation of normal distributions for stochastic optimal control of nonsmooth systems

Author(s): Florian Messerer, Katrin Baumgärtner, Armin Nurkanović, Moritz Diehl
Published in: Nonlinear Analysis: Hybrid Systems, Issue 53, 2024, Page(s) 101499, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/j.nahs.2024.101499

Fourth-Order Suboptimality of Nominal Model Predictive Control in the Presence of Uncertainty

Author(s): Florian Messerer, Katrin Baumgärtner, Sergio Lucia, Moritz Diehl
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 508-513, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3396611

Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions

Author(s): Antoine P. Leeman, Johannes Kohler, Florian Messerer, Amon Lahr, Moritz Diehl, Melanie N. Zeilinger
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 173-180, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.027

Continuous Optimization for Control of Hybrid Systems With Hysteresis via Time-Freezing

Author(s): Armin Nurkanovic, Moritz Diehl
Published in: IEEE Control Systems Letters, Issue 6, 2022, Page(s) 3182-3187, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3181888

Solving Mathematical Programs with Complementarity Constraints Arising in Nonsmooth Optimal Control

Author(s): Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
Published in: Vietnam Journal of Mathematics, 2024, ISSN 2305-221X
Publisher: Springer Science + Business Media
DOI: 10.1007/s10013-024-00704-z

On Gain Scheduling Trajectory Stabilization for Nonlinear Systems: Theoretical Insights and Experimental Results

Author(s): Nicolas Kessler, Lorenzo Fagiano
Published in: International Journal of Robust and Nonlinear Control, Issue 35, 2025, Page(s) 2142-2155, ISSN 1049-8923
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/rnc.7784

Robust offset‐free nonlinear model predictive control for systems learned by neural nonlinear autoregressive exogenous models

Author(s): Jing Xie, Fabio Bonassi, Marcello Farina, Riccardo Scattolini
Published in: International Journal of Robust and Nonlinear Control, Issue 33, 2023, Page(s) 9992-10009, ISSN 1049-8923
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/rnc.6883

The Time-Freezing Reformulation for Numerical Optimal Control of Complementarity Lagrangian Systems with State Jumps - Extended Version

Author(s): Nurkanović, Armin; Albrecht, Sebastian; Brogliato, Bernard; Diehl, Moritz
Published in: Automatica, Issue Volume 158, 2023, ISSN 0005-1098
Publisher: Pergamon Press Ltd.

PANTR: A Proximal Algorithm With Trust-Region Updates for Nonconvex Constrained Optimization

Author(s): Alexander Bodard, Pieter Pas, Panagiotis Patrinos
Published in: IEEE Control Systems Letters, Issue 7, 2023, Page(s) 2389-2394, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3286331

Sim2real for Autonomous Vehicle Control using Executable Digital Twin

Author(s): Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Published in: IFAC-PapersOnLine, Issue vol. 55 issue 24, 2022, ISSN 2405-8963
Publisher: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.10.314

SPIRAL: a superlinearly convergent incremental proximal algorithm for nonconvex finite sum minimization

Author(s): Pourya Behmandpoor, Puya Latafat, Andreas Themelis, Marc Moonen, Panagiotis Patrinos
Published in: Computational Optimization and Applications, Issue 88, 2024, Page(s) 71-106, ISSN 0926-6003
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10589-023-00550-8

Advanced-Step Real-Time Iterations With Four Levels – New Error Bounds and Fast Implementation in acados

Author(s): Jonathan Frey, Armin Nurkanović, Moritz Diehl
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 1703-1708, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3412007

Finite Elements with Switch Detection for direct optimal control of nonsmooth systems

Author(s): Armin Nurkanović, Mario Sperl, Sebastian Albrecht, Moritz Diehl
Published in: Numerische Mathematik, Issue 156, 2024, Page(s) 1115-1162, ISSN 0029-599X
Publisher: Springer Verlag
DOI: 10.1007/s00211-024-01412-z

Nonlinear Model Predictive Control for Efficient Control of Variable Speed Variable Displacement Pumps

Author(s): Leonardo Cecchin, Jonathan Frey, Stefan Gering, Maximilian Manderla, Adrian Trachte, Moritz Diehl
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 331-336, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.046

Physics-informed online learning of gray-box models by moving horizon estimation

Author(s): Kristoffer Fink Løwenstein, Daniele Bernardini, Lorenzo Fagiano, Alberto Bemporad
Published in: European Journal of Control, Issue 74, 2024, Page(s) 100861, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100861

Gauss–Newton Runge–Kutta integration for efficient discretization of optimal control problems with long horizons and least-squares costs

Author(s): Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
Published in: European Journal of Control, Issue 80, 2024, Page(s) 101038, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2024.101038

Stochastic Model Predictive Control with Optimal Linear Feedback for Mobile Robots in Dynamic Environments

Author(s): Yunfan Gao, Florian Messerer, Niels van Duijkeren, Moritz Diehl
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 153-158, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.024

Real-Time NMPC With Convex–Concave Constraints and Application to Eco-Driving

Author(s): Shiying Dong, Andrea Ghezzi, Jakob Harzer, Jonathan Frey, Bingzhao Gao, Hong Chen, Moritz Diehl
Published in: IEEE Transactions on Control Systems Technology, Issue 33, 2025, Page(s) 807-814, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2024.3494993

On the Design of Terminal Ingredients for Linear Time Varying Model Predictive Control: Theory and Experimental Application

Author(s): Nicolas Kessler, Lorenzo Fagiano
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 263-268, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.041

Evaluation of MPC-based Imitation Learning for Human-like Autonomous Driving

Author(s): Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 4871-4876, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1257

Data-briven Distributionally Robust Me for constrained stochastic systems

Author(s): Peter Coppens; Panagiotis Patrinos
Published in: IEEE Control System Letters, Issue vol. 6, 2022, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2021.3091628

Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC

Author(s): Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl
Published in: European Journal of Control, Issue 74, 2024, Page(s) 100847, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100847

QPALM: a proximal augmented lagrangian method for nonconvex quadratic programs

Author(s): Ben Hermans, Andreas Themelis, Panagiotis Patrinos
Published in: Mathematical Programming Computation volume, Issue 14, 2022, ISSN 1867-2949
Publisher: Springer Verlag
DOI: 10.1007/s12532-022-00218-0

AWEbox: An Optimal Control Framework for Single- and Multi-Aircraft Airborne Wind Energy Systems

Author(s): Jochem De Schutter, Rachel Leuthold, Thilo Bronnenmeyer, Elena Malz, Sebastien Gros, Moritz Diehl
Published in: Energies, Issue 16, 2025, Page(s) 1900, ISSN 1996-1073
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/en16041900

QPALM-OCP: A Newton-Type Proximal Augmented Lagrangian Solver Tailored for Quadratic Programs Arising in Model Predictive Control

Author(s): Kristoffer Fink Løwenstein, Daniele Bernardini, Panagiotis Patrinos
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 1349-1354, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3410638

Vertical Airborne Wind Energy Farms with High Power Density per Ground Area based on Multi-Aircraft Systems

Author(s): Jochem De Schutter, Jakob Harzer, Moritz Diehl
Published in: European Journal of Control, Issue 74, 2024, Page(s) 100867, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100867

Large-eddy simulation of airborne wind energy farms

Author(s): Thomas Haas; Jochem De Schutter; Moritz Diehl; Johan Meyers
Published in: Wind Energy Science Discussions, Issue 2, 2021, ISSN 2366-7451
Publisher: Copernicus Publications
DOI: 10.5194/wes-2021-141

Nonlinear MPC design for incrementally ISS systems with application to GRU networks

Author(s): Fabio Bonassi, Alessio La Bella, Marcello Farina, Riccardo Scattolini
Published in: Automatica, Issue 159, 2023, Page(s) 111381, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111381

Simultaneous design of passive and active spacecraft attitude control using black-box optimization

Author(s): Lorenzo Sabug, Gian Paolo Incremona, Mara Tanelli, Fredy Ruiz, Lorenzo Fagiano
Published in: Control Engineering Practice, Issue 135, 2023, Page(s) 105516, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2023.105516

Dualities for Non-Euclidean Smoothness and Strong Convexity under the Light of Generalized Conjugacy

Author(s): Emanuel Laude, Andreas Themelis, Panagiotis Patrinos
Published in: SIAM Journal on Optimization, Issue 33, 2023, Page(s) 2721-2749, ISSN 1052-6234
Publisher: Society for Industrial and Applied Mathematics
DOI: 10.1137/21m1465913

Multi‐Phase Optimal Control Problems for Efficient Nonlinear Model Predictive Control With acados

Author(s): Jonathan Frey, Katrin Baumgärtner, Gianluca Frison, Moritz Diehl
Published in: Optimal Control Applications and Methods, Issue 46, 2025, Page(s) 827-845, ISSN 0143-2087
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/oca.3234

On the stabilization of forking and cyclic trajectories for nonlinear systems

Author(s): Nicolas Kessler, Lorenzo Fagiano
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 199-204, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.024

An implicit and explicit dual model predictive control formulation for a steel recycling process

Author(s): Andrea Ghezzi, Florian Messerer, Jacopo Balocco, Vincenzo Manzoni, Moritz Diehl
Published in: European Journal of Control, Issue 74, 2024, Page(s) 100841, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100841

Distributionally Robust Optimization Using Cost-Aware Ambiguity Sets

Author(s): Mathijs Schuurmans, Panagiotis Patrinos
Published in: IEEE Control Systems Letters, Issue 7, 2023, Page(s) 1855-1860, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3281974

Gauss–Newton meets PANOC: A fast and globally convergent algorithm for nonlinear optimal control

Author(s): Pieter Pas, Andreas Themelis, Panagiotis Patrinos
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 4852-4857, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1254

Safe, learning-based MPC for highway driving under lane-change uncertainty: A distributionally robust approach

Author(s): Mathijs Schuurmans, Alexander Katriniok, Christopher Meissen, H. Eric Tseng, Panagiotis Patrinos
Published in: Artificial Intelligence, Issue 320, 2024, Page(s) 103920, ISSN 0004-3702
Publisher: Elsevier BV
DOI: 10.1016/j.artint.2023.103920

Energy-Optimal Trajectory Planning for Semi-Autonomous Hydraulic Excavators

Author(s): Alessandro Cupo, Leonardo Cecchin, Ozan Demir, Lorenzo Fagiano
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 450-455, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2025.01.087

The time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumps

Author(s): Armin Nurkanović, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl
Published in: Automatica, Issue 158, 2024, Page(s) 111295, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111295

Reinforcement Learning from Simulation to Real World Autonomous Driving using Digital Twin

Author(s): Kevin L. Voogd, Jean Pierre Allamaa, Javier Alonso-Mora, Tong Duy Son
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 1510-1515, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1846

Dynamic soaring in wind turbine wakes

Author(s): Jakob Harzer, Jochem De Schutter, Moritz Diehl, Johan Meyers
Published in: European Journal of Control, Issue 74, 2024, Page(s) 100842, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100842

Recurrent Neural Network-based Internal Model Control design for stable nonlinear systems

Author(s): Riccardo Scattolini; Fabio Bonassi
Published in: European Journal of Control, Issue vol. 65, 2022, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2022.100632

Multitrajectory Model Predictive Control for Safe UAV Navigation in an Unknown Environment

Author(s): Danilo Saccani, Leonardo Cecchin, Lorenzo Fagiano
Published in: IEEE Transactions on Control Systems Technology, 2022, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2022.3216989

Complexity of linearized quadratic penalty for optimization with nonlinear equality constraints

Author(s): Lahcen El Bourkhissi, Ion Necoara
Published in: Journal of Global Optimization, Issue 91, 2025, Page(s) 483-510, ISSN 0925-5001
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10898-024-01456-3

Robustified Time-optimal Collision-free Motion Planning for Autonomous Mobile Robots under Disturbance Conditions

Author(s): Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 14258-14264
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610134

ALPAQA: A matrix-free solver for nonlinear MPC and large-scale nonconvex optimization

Author(s): Pieter Pas, Mathijs Schuurmans, Panagiotis Patrinos
Published in: 2022 European Control Conference (ECC), 2022
Publisher: IEEE
DOI: 10.23919/ecc55457.2022.9838172

Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry

Author(s): Shengchao Yan, Baohe Zhang, Yuan Zhang, Joschka Boedecker, Wolfram Burgard
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 49-55
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610949

Safety Envelope for Orthogonal Collocation Methods in Embedded Optimal Control

Author(s): Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van Der Auweraer, Tong Duy Son
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-7
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178116

Continuous Optimization for Control of Finite-State Machines with Cascaded Hysteresis via Time-Freezing

Author(s): Wim Van Roy, Armin Nurkanović, Ramin Abbasi-Esfeden, Jonathan Frey, Anton Pozharskiy, Jan Swevers, Moritz Diehl
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10384083

Deep Long-Short Term Memory networks: Stability properties and Experimental validation

Author(s): Fabio Bonassi, Alessio La Bella, Giulio Panzani, Marcello Farina, Riccardo Scattolini
Published in: 2023 European Control Conference (ECC), Issue June 2023, 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178405

A Voronoi-Based Mixed-Integer Gauss-Newton Algorithm for MINLP Arising in Optimal Control

Author(s): Andrea Ghezzi, Léo Simpson, Adrian Bürger, Clemens Zeile, Sebastian Sager, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-7
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178130

Fast Nonlinear Model Predictive Control using Barrier Formulations and Squashing with a Generalized Gauss-Newton Hessian

Author(s): Katrin Baumgartner, Yizhen Wang, Andrea Zanelli, Moritz Diehl
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Page(s) 558-563
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992869

Introducing the quadratically-constrained quadratic programming framework in HPIPM

Author(s): Frison, Gianluca; Frey, Jonathan; Messerer, Florian; Zanelli, Andrea; Diehl, Moritz
Published in: 2022 European Control Conference (ECC), 2022, Page(s) 447-453
Publisher: IEEE
DOI: 10.23919/ecc55457.2022.9838499

Finite Elements with Switch Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions

Author(s): Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 5286-5293
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383937

Towards safe and tractable Gaussian process-based MPC: Efficient sampling within a sequential quadratic programming framework

Author(s): Manish Prajapat, Amon Lahr, Johannes Köhler, Andreas Krause, Melanie N. Zeilinger
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Page(s) 7458-7465
Publisher: IEEE
DOI: 10.1109/cdc56724.2024.10886350

Ordered Risk Minimization: Learning More from Less Data

Author(s): Peter Coppens, Panagiotis Patrinos
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 2003-2009
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383728

Towards lifelong learning of Recurrent Neural Networks for control design

Author(s): Fabio Bonassi, Jing Xie, Marcello Farina, Riccardo Scattolini
Published in: 2022 European Control Conference (ECC), 2022, Page(s) 2018-2023
Publisher: IEEE
DOI: 10.23919/ecc55457.2022.9838393

Fast integrators with sensitivity propagation for use in CasADi

Author(s): Jonathan Frey, Jochem De Schutter, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178402

Imitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximation

Author(s): Andrea Ghezzi, Jasper Hoffman, Jonathan Frey, Joschka Boedecker, Moritz Diehl
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 4766-4771
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383323

Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC

Author(s): Yunfan Gao, Florian Messerer, Jonathan Frey, Niels van Duijkeren, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178311

UDUC: An Uncertainty-driven Approach for Learning-based Robust Control

Author(s): Yuan Zhang and Jasper Hoffman and Joschka Boedecker
Published in: ECAI 2024 - 27th European Conference on Artificial Intelligence - Including 13th Conference on Prestigious Applications of Intelligent Systems (PAIS 2024), Issue 392, 2024, Page(s) 4402-4409
Publisher: IOS Press

A Dynamic Programming-based Heuristic Approach for Unit Commitment Problems

Author(s): Wim Van Roy, Ramin Abbasi-Esfeden, Jan Swevers
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-8
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178216

A Unified Local Convergence Analysis of Differential Dynamic Programming, Direct Single Shooting, and Direct Multiple Shooting

Author(s): Katrin Baumgärtner, Florian Messerer, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-7
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178367

Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

Author(s): Yuan Zhang, Jianhong Wang, Joschka Boedecker
Published in: Proceedings of The 7th Conference on Robot Learning, Issue 229, 2023, Page(s) 1400-1424
Publisher: CoRL

An Efficient Method for the Joint Estimation of System Parameters and Noise Covariances for Linear Time-Variant Systems

Author(s): Léo Simpson, Andrea Ghezzi, Jonas Asprion, Moritz Diehl
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383686

An Offset-Free Nonlinear MPC scheme for systems learned by Neural NARX models

Author(s): Fabio Bonassi, Jing Xie, Marcello Farina, Riccardo Scattolini
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992362

Data-Driven Output Matching of Output-Generalized Bilinear and Linear Parameter-Varying systems

Author(s): Leander Hemelhof, Ivan Markovsky, Panagiotis Patrinos
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178404

The Extended Gauss-Newton Method for Nonconvex Loss Functions and its Application to Time-Optimal Model Predictive Control

Author(s): Katrin Baumgartner, Moritz Diehl
Published in: 2022 American Control Conference (ACC), 2022, Page(s) 4973-4978
Publisher: IEEE
DOI: 10.23919/acc53348.2022.9867372

Moving Horizon Estimation with Adaptive Regularization for Ill-Posed State and Parameter Estimation Problems

Author(s): Katrin Baumgartner, Rudolf Reiter, Moritz Diehl
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Page(s) 2165-2171
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9993416

Direct Collocation for Numerical Optimal Control of Second-Order ODE

Author(s): Léo Simpson, Armin Nurkanović, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-7
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178181

Interaction-aware Model Predictive Control for Autonomous Driving

Author(s): Renzi Wang, Mathijs Schuurmans, Panagiotis Patrinos
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178332

Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados

Author(s): Jonathan Frey, Yunfan Gao, Florian Messerer, Amon Lahr, Melanie Zeilinger, Moritz Diehl
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 3470-3475
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10591148

Open Ad Hoc Teamwork with Cooperative Game Theory

Author(s): Jianhong Wang and Yang Li and Yuan Zhang and Wei Pan and Samuel Kaski
Published in: Forty-first International Conference on Machine Learning, 2024, 2024
Publisher: ICML

A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing

Author(s): Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-8
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178143

A Learning-based Model Predictive Control Scheme with Application to Temperature Control Units <sup>*</sup>

Author(s): Léo Simpson, Jing Xie, Jonas Asprion, Riccardo Scattolini
Published in: 2024 IEEE Conference on Control Technology and Applications (CCTA), 2024, Page(s) 675-680
Publisher: IEEE
DOI: 10.1109/ccta60707.2024.10666571

Local Convergence Analysis of Damping for Zero-Order Optimization-Based Iterative Learning Control

Author(s): Katrin Baumgärtner, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178225

Least squares moment matching-based model reduction using convex optimization

Author(s): Tudor C. Ionescu, Lahcen El Bourkhissi, Ion Necoara
Published in: 2022 26th International Conference on System Theory, Control and Computing (ICSTCC), 2022, Page(s) 325-330
Publisher: IEEE
DOI: 10.1109/icstcc55426.2022.9931837

Escaping limit cycles: Global convergence for constrained nonconvex-nonconcave minimax problems

Author(s): Thomas Pethick, Puya Latafat, Panagiotis Patrinos, Olivier Fercoq, Volkan Cevher
Published in: International Conference on Learning Representations., 2022
Publisher: ICLR

An Inverse Optimal Control Approach for Trajectory Prediction of Autonomous Race Cars

Author(s): Rudolf Reiter, Florian Messerer, Markus Schratter, Daniel Watzenig, Moritz Diehl
Published in: 2022 European Control Conference (ECC), 2022
Publisher: IEEE
DOI: 10.23919/ecc55457.2022.9838100

Iterative Switching Time Optimization for Mixed-integer Optimal Control Problems

Author(s): Ramin Abbasi-Esfeden, Wim Van Roy, Jan Swevers
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178419

SHAQ: Incorporating Shapley Value Theory into Multi-Agent Q-Learning

Author(s): Jianhong Wang and Jinxin Wang and Yuan Zhang and Yunjie Gu and Tae-Kyun Kim
Published in: Advances in Neural Information Processing Systems, 2022
Publisher: NeurIPS 2022 Conference

Locally Weighted Regression with Approximate Derivatives for Data-based optimization

Author(s): Leonardo Cecchin, Katrin Baumgärtner, Stefan Gering, Moritz Diehl
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178192

Obstacle avoidance for a robotic manipulator with linear-quadratic Model Predictive Control

Author(s): Gonzalo Meza, Kristoffer Fink Løwenstein, Lorenzo Fagiano
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 3365-3370
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711546

Driving from Vision through Differentiable Optimal Control

Author(s): Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 2824-2831
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802306

Real-time prediction of human-generated reference signals for advanced digging control<sup>*</sup>

Author(s): Leonardo Cecchin, Adrian Trachte, Lorenzo Fagiano, Moritz Diehl
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 496-501
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711371

Progressive Smoothing for Motion Planning in Real-Time NMPC

Author(s): Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen, Moritz Diehl
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 1816-1823
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10590824

Linearized ADMM for Nonsmooth Nonconvex Optimization with Nonlinear Equality Constraints

Author(s): Lahcen El Bourkhissi, Ion Necoara, Panagiotis Patrinos
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 7312-7317
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10384166

LCPPO: An Efficient Multi-agent Reinforcement Learning Algorithm on Complex Railway Network

Author(s): Yuan Zhang and Umashankar Deekshith and Jianhong Wang and Joschka Boedecker
Published in: 34th International Conference on Automated Planning and Scheduling, 2024
Publisher: 34th International Conference on Automated Planning and Scheduling

LCQPow: a solver for linear complementarity quadratic programs

Author(s): Jonas Hall, Armin Nurkanović, Florian Messerer, Moritz Diehl
Published in: Mathematical Programming Computation, Issue 17, 2025, Page(s) 81-109, ISSN 1867-2949
Publisher: Springer Verlag
DOI: 10.1007/s12532-024-00272-w

Convergence of the preconditioned proximal point method and Douglas–Rachford splitting in the absence of monotonicity

Author(s): Brecht Evens, Pieter Pas, Puya Latafat, Panagiotis Patrinos
Published in: Mathematical Programming, Issue Series A, 2025, ISSN 0025-5610
Publisher: Springer Verlag
DOI: 10.1007/s10107-024-02182-0

Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning

Author(s): Rudolf Reiter, Rien Quirynen, Moritz Diehl, Stefano Di Cairano
Published in: IEEE Transactions on Control Systems Technology, 2024, Page(s) 1-15, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2024.3400571

Reconciling Deep Learning and Control Theory: Recurrent Neural Networks for Indirect Data-Driven Control

Author(s): Fabio Bonassi
Published in: SpringerBriefs in Applied Sciences and Technology, Special Topics in Information Technology, 2024, Page(s) 77-87
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-51500-2_7

UDUC: An Uncertainty-Driven Approach for Learning-Based Robust Control

Author(s): Yuan Zhang, Jasper Hoffmann, Joschka Boedecker
Published in: Frontiers in Artificial Intelligence and Applications, ECAI 2024, 2024
Publisher: IOS Press
DOI: 10.3233/faia241018

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