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

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

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

Publicaciones

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

Autores: Fabio Bonassi; Marcello Farina; Jing Xie; Riccardo Scattolini
Publicado en: Journal of Process Control, Edición vol. 114, 2022, Página(s) 92-104, ISSN 0959-1524
Editor: Butterworth Scientific Ltd.
DOI: 10.48550/arxiv.2111.13557

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

Autores: Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl
Publicado en: IEEE Control Systems Letters, Edición 7, 2024, Página(s) 3018-3023, ISSN 2475-1456
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3289707

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

Autores: Alexander Bodard, Ruairi Moran, Mathijs Schuurmans, Panagiotis Patrinos, Pantelis Sopasakis
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 1944-1951, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1086

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

Autores: Shuhao Zhang, Jan Swevers
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 139-145, ISSN 2405-8963
Editor: 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

Autores: Florian Messerer, Katrin Baumgartner, Moritz Diehl
Publicado en: IEEE Control Systems Letters, Edición 7, 2024, Página(s) 1171-1176, ISSN 2475-1456
Editor: 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

Autores: Puya Latafat, Andreas Themelis, Lorenzo Stella, Panagiotis Patrinos
Publicado en: Mathematical Programming, 2024, ISSN 0025-5610
Editor: Springer Verlag
DOI: 10.1007/s10107-024-02143-7

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

Autores: Ajay K. Sampathirao, Panagiotis Patrinos, Alberto Bemporad, Pantelis Sopasakis
Publicado en: Optimal Control Applications and Methods, Edición 45, 2024, Página(s) 45-63, ISSN 0143-2087
Editor: John Wiley & Sons Inc.
DOI: 10.1002/oca.3054

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

Autores: Jean Pierre Allamaa, Panagiotis Patrinos, Toshiyuki Ohtsuka, Tong Duy Son
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 392-399, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.058

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

Autores: Amon Lahr, Andrea Zanelli, Andrea Carron, Melanie N. Zeilinger
Publicado en: European Journal of Control, Edición 74, 2024, Página(s) 100862, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2023.100862

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

Autores: Leonardo Cecchin, Toshiyuki Ohtsuka, Adrian Trachte, Moritz Diehl
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 281-287, ISSN 2405-8963
Editor: 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

Autores: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Publicado en: Nonlinear Analysis: Hybrid Systems, Edición 52, 2024, Página(s) 101460, ISSN 1751-570X
Editor: Elsevier BV
DOI: 10.1016/j.nahs.2023.101460

Learning Control Affine Neural NARX Models for Internal Model Control Design

Autores: Jing Xie, Fabio Bonassi, Riccardo Scattolini
Publicado en: IEEE Transactions on Automation Science and Engineering, Edición 22, 2025, Página(s) 8137-8149, ISSN 1545-5955
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3479321

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

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

Stability of Progressively Tightening Model Predictive Control in Continuous Time

Autores: Katrin Baumgärtner, Moritz Diehl
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 349-355, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.054

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

Autores: Andreas Themelis; Lorenzo Stella; Panagiotis Patrinos
Publicado en: Computational Optimization and Applications, Edición 82-2, 2022, ISSN 0926-6003
Editor: 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

Autores: Armin Nurkanović, Anton Pozharskiy, Jonathan Frey, Moritz Diehl
Publicado en: Nonlinear Analysis: Hybrid Systems, Edición 54, 2024, Página(s) 101518, ISSN 1751-570X
Editor: Elsevier BV
DOI: 10.1016/j.nahs.2024.101518

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

Autores: Florian Messerer, Katrin Baumgärtner, Armin Nurkanović, Moritz Diehl
Publicado en: Nonlinear Analysis: Hybrid Systems, Edición 53, 2024, Página(s) 101499, ISSN 1751-570X
Editor: Elsevier BV
DOI: 10.1016/j.nahs.2024.101499

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

Autores: Florian Messerer, Katrin Baumgärtner, Sergio Lucia, Moritz Diehl
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 508-513, ISSN 2475-1456
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3396611

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

Autores: Antoine P. Leeman, Johannes Kohler, Florian Messerer, Amon Lahr, Moritz Diehl, Melanie N. Zeilinger
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 173-180, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.027

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

Autores: Armin Nurkanovic, Moritz Diehl
Publicado en: IEEE Control Systems Letters, Edición 6, 2022, Página(s) 3182-3187, ISSN 2475-1456
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3181888

Solving Mathematical Programs with Complementarity Constraints Arising in Nonsmooth Optimal Control

Autores: Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
Publicado en: Vietnam Journal of Mathematics, 2024, ISSN 2305-221X
Editor: Springer Science + Business Media
DOI: 10.1007/s10013-024-00704-z

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

Autores: Nicolas Kessler, Lorenzo Fagiano
Publicado en: International Journal of Robust and Nonlinear Control, Edición 35, 2025, Página(s) 2142-2155, ISSN 1049-8923
Editor: 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

Autores: Jing Xie, Fabio Bonassi, Marcello Farina, Riccardo Scattolini
Publicado en: International Journal of Robust and Nonlinear Control, Edición 33, 2023, Página(s) 9992-10009, ISSN 1049-8923
Editor: 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

Autores: Nurkanović, Armin; Albrecht, Sebastian; Brogliato, Bernard; Diehl, Moritz
Publicado en: Automatica, Edición Volume 158, 2023, ISSN 0005-1098
Editor: Pergamon Press Ltd.

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

Autores: Alexander Bodard, Pieter Pas, Panagiotis Patrinos
Publicado en: IEEE Control Systems Letters, Edición 7, 2023, Página(s) 2389-2394, ISSN 2475-1456
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3286331

Sim2real for Autonomous Vehicle Control using Executable Digital Twin

Autores: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Publicado en: IFAC-PapersOnLine, Edición vol. 55 issue 24, 2022, ISSN 2405-8963
Editor: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.10.314

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

Autores: Pourya Behmandpoor, Puya Latafat, Andreas Themelis, Marc Moonen, Panagiotis Patrinos
Publicado en: Computational Optimization and Applications, Edición 88, 2024, Página(s) 71-106, ISSN 0926-6003
Editor: 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

Autores: Jonathan Frey, Armin Nurkanović, Moritz Diehl
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 1703-1708, ISSN 2475-1456
Editor: 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

Autores: Armin Nurkanović, Mario Sperl, Sebastian Albrecht, Moritz Diehl
Publicado en: Numerische Mathematik, Edición 156, 2024, Página(s) 1115-1162, ISSN 0029-599X
Editor: Springer Verlag
DOI: 10.1007/s00211-024-01412-z

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

Autores: Leonardo Cecchin, Jonathan Frey, Stefan Gering, Maximilian Manderla, Adrian Trachte, Moritz Diehl
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 331-336, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.046

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

Autores: Kristoffer Fink Løwenstein, Daniele Bernardini, Lorenzo Fagiano, Alberto Bemporad
Publicado en: European Journal of Control, Edición 74, 2024, Página(s) 100861, ISSN 0947-3580
Editor: 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

Autores: Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
Publicado en: European Journal of Control, Edición 80, 2024, Página(s) 101038, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2024.101038

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

Autores: Yunfan Gao, Florian Messerer, Niels van Duijkeren, Moritz Diehl
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 153-158, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.024

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

Autores: Shiying Dong, Andrea Ghezzi, Jakob Harzer, Jonathan Frey, Bingzhao Gao, Hong Chen, Moritz Diehl
Publicado en: IEEE Transactions on Control Systems Technology, Edición 33, 2025, Página(s) 807-814, ISSN 1063-6536
Editor: 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

Autores: Nicolas Kessler, Lorenzo Fagiano
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 263-268, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.041

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

Autores: Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 4871-4876, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1257

Data-briven Distributionally Robust Me for constrained stochastic systems

Autores: Peter Coppens; Panagiotis Patrinos
Publicado en: IEEE Control System Letters, Edición vol. 6, 2022, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2021.3091628

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

Autores: Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl
Publicado en: European Journal of Control, Edición 74, 2024, Página(s) 100847, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2023.100847

QPALM: a proximal augmented lagrangian method for nonconvex quadratic programs

Autores: Ben Hermans, Andreas Themelis, Panagiotis Patrinos
Publicado en: Mathematical Programming Computation volume, Edición 14, 2022, ISSN 1867-2949
Editor: Springer Verlag
DOI: 10.1007/s12532-022-00218-0

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

Autores: Jochem De Schutter, Rachel Leuthold, Thilo Bronnenmeyer, Elena Malz, Sebastien Gros, Moritz Diehl
Publicado en: Energies, Edición 16, 2025, Página(s) 1900, ISSN 1996-1073
Editor: 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

Autores: Kristoffer Fink Løwenstein, Daniele Bernardini, Panagiotis Patrinos
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 1349-1354, ISSN 2475-1456
Editor: 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

Autores: Jochem De Schutter, Jakob Harzer, Moritz Diehl
Publicado en: European Journal of Control, Edición 74, 2024, Página(s) 100867, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2023.100867

Large-eddy simulation of airborne wind energy farms

Autores: Thomas Haas; Jochem De Schutter; Moritz Diehl; Johan Meyers
Publicado en: Wind Energy Science Discussions, Edición 2, 2021, ISSN 2366-7451
Editor: Copernicus Publications
DOI: 10.5194/wes-2021-141

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

Autores: Fabio Bonassi, Alessio La Bella, Marcello Farina, Riccardo Scattolini
Publicado en: Automatica, Edición 159, 2023, Página(s) 111381, ISSN 0005-1098
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111381

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

Autores: Lorenzo Sabug, Gian Paolo Incremona, Mara Tanelli, Fredy Ruiz, Lorenzo Fagiano
Publicado en: Control Engineering Practice, Edición 135, 2023, Página(s) 105516, ISSN 0967-0661
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2023.105516

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

Autores: Emanuel Laude, Andreas Themelis, Panagiotis Patrinos
Publicado en: SIAM Journal on Optimization, Edición 33, 2023, Página(s) 2721-2749, ISSN 1052-6234
Editor: Society for Industrial and Applied Mathematics
DOI: 10.1137/21m1465913

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

Autores: Jonathan Frey, Katrin Baumgärtner, Gianluca Frison, Moritz Diehl
Publicado en: Optimal Control Applications and Methods, Edición 46, 2025, Página(s) 827-845, ISSN 0143-2087
Editor: John Wiley & Sons Inc.
DOI: 10.1002/oca.3234

On the stabilization of forking and cyclic trajectories for nonlinear systems

Autores: Nicolas Kessler, Lorenzo Fagiano
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 199-204, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.024

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

Autores: Andrea Ghezzi, Florian Messerer, Jacopo Balocco, Vincenzo Manzoni, Moritz Diehl
Publicado en: European Journal of Control, Edición 74, 2024, Página(s) 100841, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2023.100841

Distributionally Robust Optimization Using Cost-Aware Ambiguity Sets

Autores: Mathijs Schuurmans, Panagiotis Patrinos
Publicado en: IEEE Control Systems Letters, Edición 7, 2023, Página(s) 1855-1860, ISSN 2475-1456
Editor: 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

Autores: Pieter Pas, Andreas Themelis, Panagiotis Patrinos
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 4852-4857, ISSN 2405-8963
Editor: 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

Autores: Mathijs Schuurmans, Alexander Katriniok, Christopher Meissen, H. Eric Tseng, Panagiotis Patrinos
Publicado en: Artificial Intelligence, Edición 320, 2024, Página(s) 103920, ISSN 0004-3702
Editor: Elsevier BV
DOI: 10.1016/j.artint.2023.103920

Energy-Optimal Trajectory Planning for Semi-Autonomous Hydraulic Excavators

Autores: Alessandro Cupo, Leonardo Cecchin, Ozan Demir, Lorenzo Fagiano
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 450-455, ISSN 2405-8963
Editor: 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

Autores: Armin Nurkanović, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl
Publicado en: Automatica, Edición 158, 2024, Página(s) 111295, ISSN 0005-1098
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111295

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

Autores: Kevin L. Voogd, Jean Pierre Allamaa, Javier Alonso-Mora, Tong Duy Son
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 1510-1515, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1846

Dynamic soaring in wind turbine wakes

Autores: Jakob Harzer, Jochem De Schutter, Moritz Diehl, Johan Meyers
Publicado en: European Journal of Control, Edición 74, 2024, Página(s) 100842, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2023.100842

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

Autores: Riccardo Scattolini; Fabio Bonassi
Publicado en: European Journal of Control, Edición vol. 65, 2022, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2022.100632

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

Autores: Danilo Saccani, Leonardo Cecchin, Lorenzo Fagiano
Publicado en: IEEE Transactions on Control Systems Technology, 2022, ISSN 1063-6536
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2022.3216989

Complexity of linearized quadratic penalty for optimization with nonlinear equality constraints

Autores: Lahcen El Bourkhissi, Ion Necoara
Publicado en: Journal of Global Optimization, Edición 91, 2025, Página(s) 483-510, ISSN 0925-5001
Editor: Kluwer Academic Publishers
DOI: 10.1007/s10898-024-01456-3

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

Autores: Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 14258-14264
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610134

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

Autores: Pieter Pas, Mathijs Schuurmans, Panagiotis Patrinos
Publicado en: 2022 European Control Conference (ECC), 2022
Editor: IEEE
DOI: 10.23919/ecc55457.2022.9838172

Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry

Autores: Shengchao Yan, Baohe Zhang, Yuan Zhang, Joschka Boedecker, Wolfram Burgard
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 49-55
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610949

Safety Envelope for Orthogonal Collocation Methods in Embedded Optimal Control

Autores: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van Der Auweraer, Tong Duy Son
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-7
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178116

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

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

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

Autores: Fabio Bonassi, Alessio La Bella, Giulio Panzani, Marcello Farina, Riccardo Scattolini
Publicado en: 2023 European Control Conference (ECC), Edición June 2023, 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178405

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

Autores: Andrea Ghezzi, Léo Simpson, Adrian Bürger, Clemens Zeile, Sebastian Sager, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-7
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178130

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

Autores: Katrin Baumgartner, Yizhen Wang, Andrea Zanelli, Moritz Diehl
Publicado en: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Página(s) 558-563
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992869

Introducing the quadratically-constrained quadratic programming framework in HPIPM

Autores: Frison, Gianluca; Frey, Jonathan; Messerer, Florian; Zanelli, Andrea; Diehl, Moritz
Publicado en: 2022 European Control Conference (ECC), 2022, Página(s) 447-453
Editor: IEEE
DOI: 10.23919/ecc55457.2022.9838499

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

Autores: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Publicado en: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Página(s) 5286-5293
Editor: IEEE
DOI: 10.1109/cdc49753.2023.10383937

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

Autores: Manish Prajapat, Amon Lahr, Johannes Köhler, Andreas Krause, Melanie N. Zeilinger
Publicado en: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Página(s) 7458-7465
Editor: IEEE
DOI: 10.1109/cdc56724.2024.10886350

Ordered Risk Minimization: Learning More from Less Data

Autores: Peter Coppens, Panagiotis Patrinos
Publicado en: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Página(s) 2003-2009
Editor: IEEE
DOI: 10.1109/cdc49753.2023.10383728

Towards lifelong learning of Recurrent Neural Networks for control design

Autores: Fabio Bonassi, Jing Xie, Marcello Farina, Riccardo Scattolini
Publicado en: 2022 European Control Conference (ECC), 2022, Página(s) 2018-2023
Editor: IEEE
DOI: 10.23919/ecc55457.2022.9838393

Fast integrators with sensitivity propagation for use in CasADi

Autores: Jonathan Frey, Jochem De Schutter, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178402

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

Autores: Andrea Ghezzi, Jasper Hoffman, Jonathan Frey, Joschka Boedecker, Moritz Diehl
Publicado en: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Página(s) 4766-4771
Editor: IEEE
DOI: 10.1109/cdc49753.2023.10383323

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

Autores: Yunfan Gao, Florian Messerer, Jonathan Frey, Niels van Duijkeren, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178311

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

Autores: Yuan Zhang and Jasper Hoffman and Joschka Boedecker
Publicado en: ECAI 2024 - 27th European Conference on Artificial Intelligence - Including 13th Conference on Prestigious Applications of Intelligent Systems (PAIS 2024), Edición 392, 2024, Página(s) 4402-4409
Editor: IOS Press

A Dynamic Programming-based Heuristic Approach for Unit Commitment Problems

Autores: Wim Van Roy, Ramin Abbasi-Esfeden, Jan Swevers
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-8
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178216

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

Autores: Katrin Baumgärtner, Florian Messerer, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-7
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178367

Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

Autores: Yuan Zhang, Jianhong Wang, Joschka Boedecker
Publicado en: Proceedings of The 7th Conference on Robot Learning, Edición 229, 2023, Página(s) 1400-1424
Editor: CoRL

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

Autores: Léo Simpson, Andrea Ghezzi, Jonas Asprion, Moritz Diehl
Publicado en: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Editor: IEEE
DOI: 10.1109/cdc49753.2023.10383686

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

Autores: Fabio Bonassi, Jing Xie, Marcello Farina, Riccardo Scattolini
Publicado en: 2022 IEEE 61st Conference on Decision and Control (CDC), 2022, ISBN 978-1-6654-6761-2
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992362

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

Autores: Leander Hemelhof, Ivan Markovsky, Panagiotis Patrinos
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: 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

Autores: Katrin Baumgartner, Moritz Diehl
Publicado en: 2022 American Control Conference (ACC), 2022, Página(s) 4973-4978
Editor: IEEE
DOI: 10.23919/acc53348.2022.9867372

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

Autores: Katrin Baumgartner, Rudolf Reiter, Moritz Diehl
Publicado en: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Página(s) 2165-2171
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9993416

Direct Collocation for Numerical Optimal Control of Second-Order ODE

Autores: Léo Simpson, Armin Nurkanović, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-7
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178181

Interaction-aware Model Predictive Control for Autonomous Driving

Autores: Renzi Wang, Mathijs Schuurmans, Panagiotis Patrinos
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178332

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

Autores: Jonathan Frey, Yunfan Gao, Florian Messerer, Amon Lahr, Melanie Zeilinger, Moritz Diehl
Publicado en: 2024 European Control Conference (ECC), 2024, Página(s) 3470-3475
Editor: IEEE
DOI: 10.23919/ecc64448.2024.10591148

Open Ad Hoc Teamwork with Cooperative Game Theory

Autores: Jianhong Wang and Yang Li and Yuan Zhang and Wei Pan and Samuel Kaski
Publicado en: Forty-first International Conference on Machine Learning, 2024, 2024
Editor: ICML

A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing

Autores: Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-8
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178143

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

Autores: Léo Simpson, Jing Xie, Jonas Asprion, Riccardo Scattolini
Publicado en: 2024 IEEE Conference on Control Technology and Applications (CCTA), 2024, Página(s) 675-680
Editor: IEEE
DOI: 10.1109/ccta60707.2024.10666571

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

Autores: Katrin Baumgärtner, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178225

Least squares moment matching-based model reduction using convex optimization

Autores: Tudor C. Ionescu, Lahcen El Bourkhissi, Ion Necoara
Publicado en: 2022 26th International Conference on System Theory, Control and Computing (ICSTCC), 2022, Página(s) 325-330
Editor: IEEE
DOI: 10.1109/icstcc55426.2022.9931837

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

Autores: Thomas Pethick, Puya Latafat, Panagiotis Patrinos, Olivier Fercoq, Volkan Cevher
Publicado en: International Conference on Learning Representations., 2022
Editor: ICLR

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

Autores: Rudolf Reiter, Florian Messerer, Markus Schratter, Daniel Watzenig, Moritz Diehl
Publicado en: 2022 European Control Conference (ECC), 2022
Editor: IEEE
DOI: 10.23919/ecc55457.2022.9838100

Iterative Switching Time Optimization for Mixed-integer Optimal Control Problems

Autores: Ramin Abbasi-Esfeden, Wim Van Roy, Jan Swevers
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178419

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

Autores: Jianhong Wang and Jinxin Wang and Yuan Zhang and Yunjie Gu and Tae-Kyun Kim
Publicado en: Advances in Neural Information Processing Systems, 2022
Editor: NeurIPS 2022 Conference

Locally Weighted Regression with Approximate Derivatives for Data-based optimization

Autores: Leonardo Cecchin, Katrin Baumgärtner, Stefan Gering, Moritz Diehl
Publicado en: 2023 European Control Conference (ECC), 2023, Página(s) 1-6
Editor: IEEE
DOI: 10.23919/ecc57647.2023.10178192

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

Autores: Gonzalo Meza, Kristoffer Fink Løwenstein, Lorenzo Fagiano
Publicado en: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Página(s) 3365-3370
Editor: IEEE
DOI: 10.1109/case59546.2024.10711546

Driving from Vision through Differentiable Optimal Control

Autores: Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Página(s) 2824-2831
Editor: IEEE
DOI: 10.1109/iros58592.2024.10802306

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

Autores: Leonardo Cecchin, Adrian Trachte, Lorenzo Fagiano, Moritz Diehl
Publicado en: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Página(s) 496-501
Editor: IEEE
DOI: 10.1109/case59546.2024.10711371

Progressive Smoothing for Motion Planning in Real-Time NMPC

Autores: Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen, Moritz Diehl
Publicado en: 2024 European Control Conference (ECC), 2024, Página(s) 1816-1823
Editor: IEEE
DOI: 10.23919/ecc64448.2024.10590824

Linearized ADMM for Nonsmooth Nonconvex Optimization with Nonlinear Equality Constraints

Autores: Lahcen El Bourkhissi, Ion Necoara, Panagiotis Patrinos
Publicado en: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Página(s) 7312-7317
Editor: IEEE
DOI: 10.1109/cdc49753.2023.10384166

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

Autores: Yuan Zhang and Umashankar Deekshith and Jianhong Wang and Joschka Boedecker
Publicado en: 34th International Conference on Automated Planning and Scheduling, 2024
Editor: 34th International Conference on Automated Planning and Scheduling

LCQPow: a solver for linear complementarity quadratic programs

Autores: Jonas Hall, Armin Nurkanović, Florian Messerer, Moritz Diehl
Publicado en: Mathematical Programming Computation, Edición 17, 2025, Página(s) 81-109, ISSN 1867-2949
Editor: 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

Autores: Brecht Evens, Pieter Pas, Puya Latafat, Panagiotis Patrinos
Publicado en: Mathematical Programming, Edición Series A, 2025, ISSN 0025-5610
Editor: 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

Autores: Rudolf Reiter, Rien Quirynen, Moritz Diehl, Stefano Di Cairano
Publicado en: IEEE Transactions on Control Systems Technology, 2024, Página(s) 1-15, ISSN 1063-6536
Editor: 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

Autores: Fabio Bonassi
Publicado en: SpringerBriefs in Applied Sciences and Technology, Special Topics in Information Technology, 2024, Página(s) 77-87
Editor: Springer Nature Switzerland
DOI: 10.1007/978-3-031-51500-2_7

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

Autores: Yuan Zhang, Jasper Hoffmann, Joschka Boedecker
Publicado en: Frontiers in Artificial Intelligence and Applications, ECAI 2024, 2024
Editor: IOS Press
DOI: 10.3233/faia241018

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