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

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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

Pubblicazioni

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

Autori: Fabio Bonassi; Marcello Farina; Jing Xie; Riccardo Scattolini
Pubblicato in: Journal of Process Control, Numero vol. 114, 2022, Pagina/e 92-104, ISSN 0959-1524
Editore: Butterworth Scientific Ltd.
DOI: 10.48550/arxiv.2111.13557

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

Autori: Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl
Pubblicato in: IEEE Control Systems Letters, Numero 7, 2024, Pagina/e 3018-3023, ISSN 2475-1456
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3289707

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

Autori: Alexander Bodard, Ruairi Moran, Mathijs Schuurmans, Panagiotis Patrinos, Pantelis Sopasakis
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 1944-1951, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1086

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

Autori: Shuhao Zhang, Jan Swevers
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 139-145, ISSN 2405-8963
Editore: 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

Autori: Florian Messerer, Katrin Baumgartner, Moritz Diehl
Pubblicato in: IEEE Control Systems Letters, Numero 7, 2024, Pagina/e 1171-1176, ISSN 2475-1456
Editore: 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

Autori: Puya Latafat, Andreas Themelis, Lorenzo Stella, Panagiotis Patrinos
Pubblicato in: Mathematical Programming, 2024, ISSN 0025-5610
Editore: Springer Verlag
DOI: 10.1007/s10107-024-02143-7

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

Autori: Ajay K. Sampathirao, Panagiotis Patrinos, Alberto Bemporad, Pantelis Sopasakis
Pubblicato in: Optimal Control Applications and Methods, Numero 45, 2024, Pagina/e 45-63, ISSN 0143-2087
Editore: John Wiley & Sons Inc.
DOI: 10.1002/oca.3054

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

Autori: Jean Pierre Allamaa, Panagiotis Patrinos, Toshiyuki Ohtsuka, Tong Duy Son
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 392-399, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.058

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

Autori: Amon Lahr, Andrea Zanelli, Andrea Carron, Melanie N. Zeilinger
Pubblicato in: European Journal of Control, Numero 74, 2024, Pagina/e 100862, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2023.100862

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

Autori: Leonardo Cecchin, Toshiyuki Ohtsuka, Adrian Trachte, Moritz Diehl
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 281-287, ISSN 2405-8963
Editore: 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

Autori: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Pubblicato in: Nonlinear Analysis: Hybrid Systems, Numero 52, 2024, Pagina/e 101460, ISSN 1751-570X
Editore: Elsevier BV
DOI: 10.1016/j.nahs.2023.101460

Learning Control Affine Neural NARX Models for Internal Model Control Design

Autori: Jing Xie, Fabio Bonassi, Riccardo Scattolini
Pubblicato in: IEEE Transactions on Automation Science and Engineering, Numero 22, 2025, Pagina/e 8137-8149, ISSN 1545-5955
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3479321

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

Autori: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Pubblicato in: IEEE Transactions on Control Systems Technology, 2024, Pagina/e 1-16, ISSN 1063-6536
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2024.3437163

Stability of Progressively Tightening Model Predictive Control in Continuous Time

Autori: Katrin Baumgärtner, Moritz Diehl
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 349-355, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.054

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

Autori: Andreas Themelis; Lorenzo Stella; Panagiotis Patrinos
Pubblicato in: Computational Optimization and Applications, Numero 82-2, 2022, ISSN 0926-6003
Editore: 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

Autori: Armin Nurkanović, Anton Pozharskiy, Jonathan Frey, Moritz Diehl
Pubblicato in: Nonlinear Analysis: Hybrid Systems, Numero 54, 2024, Pagina/e 101518, ISSN 1751-570X
Editore: Elsevier BV
DOI: 10.1016/j.nahs.2024.101518

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

Autori: Florian Messerer, Katrin Baumgärtner, Armin Nurkanović, Moritz Diehl
Pubblicato in: Nonlinear Analysis: Hybrid Systems, Numero 53, 2024, Pagina/e 101499, ISSN 1751-570X
Editore: Elsevier BV
DOI: 10.1016/j.nahs.2024.101499

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

Autori: Florian Messerer, Katrin Baumgärtner, Sergio Lucia, Moritz Diehl
Pubblicato in: IEEE Control Systems Letters, Numero 8, 2024, Pagina/e 508-513, ISSN 2475-1456
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3396611

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

Autori: Antoine P. Leeman, Johannes Kohler, Florian Messerer, Amon Lahr, Moritz Diehl, Melanie N. Zeilinger
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 173-180, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.027

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

Autori: Armin Nurkanovic, Moritz Diehl
Pubblicato in: IEEE Control Systems Letters, Numero 6, 2022, Pagina/e 3182-3187, ISSN 2475-1456
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3181888

Solving Mathematical Programs with Complementarity Constraints Arising in Nonsmooth Optimal Control

Autori: Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
Pubblicato in: Vietnam Journal of Mathematics, 2024, ISSN 2305-221X
Editore: Springer Science + Business Media
DOI: 10.1007/s10013-024-00704-z

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

Autori: Nicolas Kessler, Lorenzo Fagiano
Pubblicato in: International Journal of Robust and Nonlinear Control, Numero 35, 2025, Pagina/e 2142-2155, ISSN 1049-8923
Editore: 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

Autori: Jing Xie, Fabio Bonassi, Marcello Farina, Riccardo Scattolini
Pubblicato in: International Journal of Robust and Nonlinear Control, Numero 33, 2023, Pagina/e 9992-10009, ISSN 1049-8923
Editore: 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

Autori: Nurkanović, Armin; Albrecht, Sebastian; Brogliato, Bernard; Diehl, Moritz
Pubblicato in: Automatica, Numero Volume 158, 2023, ISSN 0005-1098
Editore: Pergamon Press Ltd.

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

Autori: Alexander Bodard, Pieter Pas, Panagiotis Patrinos
Pubblicato in: IEEE Control Systems Letters, Numero 7, 2023, Pagina/e 2389-2394, ISSN 2475-1456
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3286331

Sim2real for Autonomous Vehicle Control using Executable Digital Twin

Autori: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Pubblicato in: IFAC-PapersOnLine, Numero vol. 55 issue 24, 2022, ISSN 2405-8963
Editore: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.10.314

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

Autori: Pourya Behmandpoor, Puya Latafat, Andreas Themelis, Marc Moonen, Panagiotis Patrinos
Pubblicato in: Computational Optimization and Applications, Numero 88, 2024, Pagina/e 71-106, ISSN 0926-6003
Editore: 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

Autori: Jonathan Frey, Armin Nurkanović, Moritz Diehl
Pubblicato in: IEEE Control Systems Letters, Numero 8, 2024, Pagina/e 1703-1708, ISSN 2475-1456
Editore: 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

Autori: Armin Nurkanović, Mario Sperl, Sebastian Albrecht, Moritz Diehl
Pubblicato in: Numerische Mathematik, Numero 156, 2024, Pagina/e 1115-1162, ISSN 0029-599X
Editore: Springer Verlag
DOI: 10.1007/s00211-024-01412-z

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

Autori: Leonardo Cecchin, Jonathan Frey, Stefan Gering, Maximilian Manderla, Adrian Trachte, Moritz Diehl
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 331-336, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.046

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

Autori: Kristoffer Fink Løwenstein, Daniele Bernardini, Lorenzo Fagiano, Alberto Bemporad
Pubblicato in: European Journal of Control, Numero 74, 2024, Pagina/e 100861, ISSN 0947-3580
Editore: 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

Autori: Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
Pubblicato in: European Journal of Control, Numero 80, 2024, Pagina/e 101038, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2024.101038

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

Autori: Yunfan Gao, Florian Messerer, Niels van Duijkeren, Moritz Diehl
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 153-158, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.024

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

Autori: Shiying Dong, Andrea Ghezzi, Jakob Harzer, Jonathan Frey, Bingzhao Gao, Hong Chen, Moritz Diehl
Pubblicato in: IEEE Transactions on Control Systems Technology, Numero 33, 2025, Pagina/e 807-814, ISSN 1063-6536
Editore: 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

Autori: Nicolas Kessler, Lorenzo Fagiano
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 263-268, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.041

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

Autori: Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 4871-4876, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1257

Data-briven Distributionally Robust Me for constrained stochastic systems

Autori: Peter Coppens; Panagiotis Patrinos
Pubblicato in: IEEE Control System Letters, Numero vol. 6, 2022, ISSN 2475-1456
Editore: IEEE
DOI: 10.1109/lcsys.2021.3091628

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

Autori: Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl
Pubblicato in: European Journal of Control, Numero 74, 2024, Pagina/e 100847, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2023.100847

QPALM: a proximal augmented lagrangian method for nonconvex quadratic programs

Autori: Ben Hermans, Andreas Themelis, Panagiotis Patrinos
Pubblicato in: Mathematical Programming Computation volume, Numero 14, 2022, ISSN 1867-2949
Editore: Springer Verlag
DOI: 10.1007/s12532-022-00218-0

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

Autori: Jochem De Schutter, Rachel Leuthold, Thilo Bronnenmeyer, Elena Malz, Sebastien Gros, Moritz Diehl
Pubblicato in: Energies, Numero 16, 2025, Pagina/e 1900, ISSN 1996-1073
Editore: 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

Autori: Kristoffer Fink Løwenstein, Daniele Bernardini, Panagiotis Patrinos
Pubblicato in: IEEE Control Systems Letters, Numero 8, 2024, Pagina/e 1349-1354, ISSN 2475-1456
Editore: 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

Autori: Jochem De Schutter, Jakob Harzer, Moritz Diehl
Pubblicato in: European Journal of Control, Numero 74, 2024, Pagina/e 100867, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2023.100867

Large-eddy simulation of airborne wind energy farms

Autori: Thomas Haas; Jochem De Schutter; Moritz Diehl; Johan Meyers
Pubblicato in: Wind Energy Science Discussions, Numero 2, 2021, ISSN 2366-7451
Editore: Copernicus Publications
DOI: 10.5194/wes-2021-141

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

Autori: Fabio Bonassi, Alessio La Bella, Marcello Farina, Riccardo Scattolini
Pubblicato in: Automatica, Numero 159, 2023, Pagina/e 111381, ISSN 0005-1098
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111381

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

Autori: Lorenzo Sabug, Gian Paolo Incremona, Mara Tanelli, Fredy Ruiz, Lorenzo Fagiano
Pubblicato in: Control Engineering Practice, Numero 135, 2023, Pagina/e 105516, ISSN 0967-0661
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2023.105516

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

Autori: Emanuel Laude, Andreas Themelis, Panagiotis Patrinos
Pubblicato in: SIAM Journal on Optimization, Numero 33, 2023, Pagina/e 2721-2749, ISSN 1052-6234
Editore: Society for Industrial and Applied Mathematics
DOI: 10.1137/21m1465913

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

Autori: Jonathan Frey, Katrin Baumgärtner, Gianluca Frison, Moritz Diehl
Pubblicato in: Optimal Control Applications and Methods, Numero 46, 2025, Pagina/e 827-845, ISSN 0143-2087
Editore: John Wiley & Sons Inc.
DOI: 10.1002/oca.3234

On the stabilization of forking and cyclic trajectories for nonlinear systems

Autori: Nicolas Kessler, Lorenzo Fagiano
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 199-204, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.024

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

Autori: Andrea Ghezzi, Florian Messerer, Jacopo Balocco, Vincenzo Manzoni, Moritz Diehl
Pubblicato in: European Journal of Control, Numero 74, 2024, Pagina/e 100841, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2023.100841

Distributionally Robust Optimization Using Cost-Aware Ambiguity Sets

Autori: Mathijs Schuurmans, Panagiotis Patrinos
Pubblicato in: IEEE Control Systems Letters, Numero 7, 2023, Pagina/e 1855-1860, ISSN 2475-1456
Editore: 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

Autori: Pieter Pas, Andreas Themelis, Panagiotis Patrinos
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 4852-4857, ISSN 2405-8963
Editore: 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

Autori: Mathijs Schuurmans, Alexander Katriniok, Christopher Meissen, H. Eric Tseng, Panagiotis Patrinos
Pubblicato in: Artificial Intelligence, Numero 320, 2024, Pagina/e 103920, ISSN 0004-3702
Editore: Elsevier BV
DOI: 10.1016/j.artint.2023.103920

Energy-Optimal Trajectory Planning for Semi-Autonomous Hydraulic Excavators

Autori: Alessandro Cupo, Leonardo Cecchin, Ozan Demir, Lorenzo Fagiano
Pubblicato in: IFAC-PapersOnLine, Numero 58, 2025, Pagina/e 450-455, ISSN 2405-8963
Editore: 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

Autori: Armin Nurkanović, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl
Pubblicato in: Automatica, Numero 158, 2024, Pagina/e 111295, ISSN 0005-1098
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111295

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

Autori: Kevin L. Voogd, Jean Pierre Allamaa, Javier Alonso-Mora, Tong Duy Son
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 1510-1515, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1846

Dynamic soaring in wind turbine wakes

Autori: Jakob Harzer, Jochem De Schutter, Moritz Diehl, Johan Meyers
Pubblicato in: European Journal of Control, Numero 74, 2024, Pagina/e 100842, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2023.100842

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

Autori: Riccardo Scattolini; Fabio Bonassi
Pubblicato in: European Journal of Control, Numero vol. 65, 2022, ISSN 0947-3580
Editore: Lavoisier
DOI: 10.1016/j.ejcon.2022.100632

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

Autori: Danilo Saccani, Leonardo Cecchin, Lorenzo Fagiano
Pubblicato in: IEEE Transactions on Control Systems Technology, 2022, ISSN 1063-6536
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2022.3216989

Complexity of linearized quadratic penalty for optimization with nonlinear equality constraints

Autori: Lahcen El Bourkhissi, Ion Necoara
Pubblicato in: Journal of Global Optimization, Numero 91, 2025, Pagina/e 483-510, ISSN 0925-5001
Editore: Kluwer Academic Publishers
DOI: 10.1007/s10898-024-01456-3

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

Autori: Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 14258-14264
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610134

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

Autori: Pieter Pas, Mathijs Schuurmans, Panagiotis Patrinos
Pubblicato in: 2022 European Control Conference (ECC), 2022
Editore: IEEE
DOI: 10.23919/ecc55457.2022.9838172

Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry

Autori: Shengchao Yan, Baohe Zhang, Yuan Zhang, Joschka Boedecker, Wolfram Burgard
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 49-55
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610949

Safety Envelope for Orthogonal Collocation Methods in Embedded Optimal Control

Autori: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van Der Auweraer, Tong Duy Son
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-7
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178116

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

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

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

Autori: Fabio Bonassi, Alessio La Bella, Giulio Panzani, Marcello Farina, Riccardo Scattolini
Pubblicato in: 2023 European Control Conference (ECC), Numero June 2023, 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178405

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

Autori: Andrea Ghezzi, Léo Simpson, Adrian Bürger, Clemens Zeile, Sebastian Sager, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-7
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178130

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

Autori: Katrin Baumgartner, Yizhen Wang, Andrea Zanelli, Moritz Diehl
Pubblicato in: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Pagina/e 558-563
Editore: IEEE
DOI: 10.1109/cdc51059.2022.9992869

Introducing the quadratically-constrained quadratic programming framework in HPIPM

Autori: Frison, Gianluca; Frey, Jonathan; Messerer, Florian; Zanelli, Andrea; Diehl, Moritz
Pubblicato in: 2022 European Control Conference (ECC), 2022, Pagina/e 447-453
Editore: IEEE
DOI: 10.23919/ecc55457.2022.9838499

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

Autori: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Pubblicato in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Pagina/e 5286-5293
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10383937

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

Autori: Manish Prajapat, Amon Lahr, Johannes Köhler, Andreas Krause, Melanie N. Zeilinger
Pubblicato in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Pagina/e 7458-7465
Editore: IEEE
DOI: 10.1109/cdc56724.2024.10886350

Ordered Risk Minimization: Learning More from Less Data

Autori: Peter Coppens, Panagiotis Patrinos
Pubblicato in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Pagina/e 2003-2009
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10383728

Towards lifelong learning of Recurrent Neural Networks for control design

Autori: Fabio Bonassi, Jing Xie, Marcello Farina, Riccardo Scattolini
Pubblicato in: 2022 European Control Conference (ECC), 2022, Pagina/e 2018-2023
Editore: IEEE
DOI: 10.23919/ecc55457.2022.9838393

Fast integrators with sensitivity propagation for use in CasADi

Autori: Jonathan Frey, Jochem De Schutter, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178402

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

Autori: Andrea Ghezzi, Jasper Hoffman, Jonathan Frey, Joschka Boedecker, Moritz Diehl
Pubblicato in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Pagina/e 4766-4771
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10383323

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

Autori: Yunfan Gao, Florian Messerer, Jonathan Frey, Niels van Duijkeren, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178311

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

Autori: Yuan Zhang and Jasper Hoffman and Joschka Boedecker
Pubblicato in: ECAI 2024 - 27th European Conference on Artificial Intelligence - Including 13th Conference on Prestigious Applications of Intelligent Systems (PAIS 2024), Numero 392, 2024, Pagina/e 4402-4409
Editore: IOS Press

A Dynamic Programming-based Heuristic Approach for Unit Commitment Problems

Autori: Wim Van Roy, Ramin Abbasi-Esfeden, Jan Swevers
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-8
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178216

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

Autori: Katrin Baumgärtner, Florian Messerer, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-7
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178367

Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

Autori: Yuan Zhang, Jianhong Wang, Joschka Boedecker
Pubblicato in: Proceedings of The 7th Conference on Robot Learning, Numero 229, 2023, Pagina/e 1400-1424
Editore: CoRL

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

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

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

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

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

Autori: Leander Hemelhof, Ivan Markovsky, Panagiotis Patrinos
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: 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

Autori: Katrin Baumgartner, Moritz Diehl
Pubblicato in: 2022 American Control Conference (ACC), 2022, Pagina/e 4973-4978
Editore: IEEE
DOI: 10.23919/acc53348.2022.9867372

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

Autori: Katrin Baumgartner, Rudolf Reiter, Moritz Diehl
Pubblicato in: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Pagina/e 2165-2171
Editore: IEEE
DOI: 10.1109/cdc51059.2022.9993416

Direct Collocation for Numerical Optimal Control of Second-Order ODE

Autori: Léo Simpson, Armin Nurkanović, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-7
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178181

Interaction-aware Model Predictive Control for Autonomous Driving

Autori: Renzi Wang, Mathijs Schuurmans, Panagiotis Patrinos
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178332

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

Autori: Jonathan Frey, Yunfan Gao, Florian Messerer, Amon Lahr, Melanie Zeilinger, Moritz Diehl
Pubblicato in: 2024 European Control Conference (ECC), 2024, Pagina/e 3470-3475
Editore: IEEE
DOI: 10.23919/ecc64448.2024.10591148

Open Ad Hoc Teamwork with Cooperative Game Theory

Autori: Jianhong Wang and Yang Li and Yuan Zhang and Wei Pan and Samuel Kaski
Pubblicato in: Forty-first International Conference on Machine Learning, 2024, 2024
Editore: ICML

A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing

Autori: Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-8
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178143

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

Autori: Léo Simpson, Jing Xie, Jonas Asprion, Riccardo Scattolini
Pubblicato in: 2024 IEEE Conference on Control Technology and Applications (CCTA), 2024, Pagina/e 675-680
Editore: IEEE
DOI: 10.1109/ccta60707.2024.10666571

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

Autori: Katrin Baumgärtner, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178225

Least squares moment matching-based model reduction using convex optimization

Autori: Tudor C. Ionescu, Lahcen El Bourkhissi, Ion Necoara
Pubblicato in: 2022 26th International Conference on System Theory, Control and Computing (ICSTCC), 2022, Pagina/e 325-330
Editore: IEEE
DOI: 10.1109/icstcc55426.2022.9931837

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

Autori: Thomas Pethick, Puya Latafat, Panagiotis Patrinos, Olivier Fercoq, Volkan Cevher
Pubblicato in: International Conference on Learning Representations., 2022
Editore: ICLR

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

Autori: Rudolf Reiter, Florian Messerer, Markus Schratter, Daniel Watzenig, Moritz Diehl
Pubblicato in: 2022 European Control Conference (ECC), 2022
Editore: IEEE
DOI: 10.23919/ecc55457.2022.9838100

Iterative Switching Time Optimization for Mixed-integer Optimal Control Problems

Autori: Ramin Abbasi-Esfeden, Wim Van Roy, Jan Swevers
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178419

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

Autori: Jianhong Wang and Jinxin Wang and Yuan Zhang and Yunjie Gu and Tae-Kyun Kim
Pubblicato in: Advances in Neural Information Processing Systems, 2022
Editore: NeurIPS 2022 Conference

Locally Weighted Regression with Approximate Derivatives for Data-based optimization

Autori: Leonardo Cecchin, Katrin Baumgärtner, Stefan Gering, Moritz Diehl
Pubblicato in: 2023 European Control Conference (ECC), 2023, Pagina/e 1-6
Editore: IEEE
DOI: 10.23919/ecc57647.2023.10178192

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

Autori: Gonzalo Meza, Kristoffer Fink Løwenstein, Lorenzo Fagiano
Pubblicato in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Pagina/e 3365-3370
Editore: IEEE
DOI: 10.1109/case59546.2024.10711546

Driving from Vision through Differentiable Optimal Control

Autori: Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Pubblicato in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Pagina/e 2824-2831
Editore: IEEE
DOI: 10.1109/iros58592.2024.10802306

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

Autori: Leonardo Cecchin, Adrian Trachte, Lorenzo Fagiano, Moritz Diehl
Pubblicato in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Pagina/e 496-501
Editore: IEEE
DOI: 10.1109/case59546.2024.10711371

Progressive Smoothing for Motion Planning in Real-Time NMPC

Autori: Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen, Moritz Diehl
Pubblicato in: 2024 European Control Conference (ECC), 2024, Pagina/e 1816-1823
Editore: IEEE
DOI: 10.23919/ecc64448.2024.10590824

Linearized ADMM for Nonsmooth Nonconvex Optimization with Nonlinear Equality Constraints

Autori: Lahcen El Bourkhissi, Ion Necoara, Panagiotis Patrinos
Pubblicato in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Pagina/e 7312-7317
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10384166

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

Autori: Yuan Zhang and Umashankar Deekshith and Jianhong Wang and Joschka Boedecker
Pubblicato in: 34th International Conference on Automated Planning and Scheduling, 2024
Editore: 34th International Conference on Automated Planning and Scheduling

LCQPow: a solver for linear complementarity quadratic programs

Autori: Jonas Hall, Armin Nurkanović, Florian Messerer, Moritz Diehl
Pubblicato in: Mathematical Programming Computation, Numero 17, 2025, Pagina/e 81-109, ISSN 1867-2949
Editore: 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

Autori: Brecht Evens, Pieter Pas, Puya Latafat, Panagiotis Patrinos
Pubblicato in: Mathematical Programming, Numero Series A, 2025, ISSN 0025-5610
Editore: 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

Autori: Rudolf Reiter, Rien Quirynen, Moritz Diehl, Stefano Di Cairano
Pubblicato in: IEEE Transactions on Control Systems Technology, 2024, Pagina/e 1-15, ISSN 1063-6536
Editore: 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

Autori: Fabio Bonassi
Pubblicato in: SpringerBriefs in Applied Sciences and Technology, Special Topics in Information Technology, 2024, Pagina/e 77-87
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-51500-2_7

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

Autori: Yuan Zhang, Jasper Hoffmann, Joschka Boedecker
Pubblicato in: Frontiers in Artificial Intelligence and Applications, ECAI 2024, 2024
Editore: IOS Press
DOI: 10.3233/faia241018

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