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

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

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

Publikacje

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

Autorzy: Fabio Bonassi; Marcello Farina; Jing Xie; Riccardo Scattolini
Opublikowane w: Journal of Process Control, Numer vol. 114, 2022, Strona(/y) 92-104, ISSN 0959-1524
Wydawca: Butterworth Scientific Ltd.
DOI: 10.48550/arxiv.2111.13557

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

Autorzy: Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl
Opublikowane w: IEEE Control Systems Letters, Numer 7, 2024, Strona(/y) 3018-3023, ISSN 2475-1456
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3289707

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

Autorzy: Alexander Bodard, Ruairi Moran, Mathijs Schuurmans, Panagiotis Patrinos, Pantelis Sopasakis
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 1944-1951, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1086

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

Autorzy: Shuhao Zhang, Jan Swevers
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 139-145, ISSN 2405-8963
Wydawca: 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

Autorzy: Florian Messerer, Katrin Baumgartner, Moritz Diehl
Opublikowane w: IEEE Control Systems Letters, Numer 7, 2024, Strona(/y) 1171-1176, ISSN 2475-1456
Wydawca: 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

Autorzy: Puya Latafat, Andreas Themelis, Lorenzo Stella, Panagiotis Patrinos
Opublikowane w: Mathematical Programming, 2024, ISSN 0025-5610
Wydawca: Springer Verlag
DOI: 10.1007/s10107-024-02143-7

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

Autorzy: Ajay K. Sampathirao, Panagiotis Patrinos, Alberto Bemporad, Pantelis Sopasakis
Opublikowane w: Optimal Control Applications and Methods, Numer 45, 2024, Strona(/y) 45-63, ISSN 0143-2087
Wydawca: John Wiley & Sons Inc.
DOI: 10.1002/oca.3054

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

Autorzy: Jean Pierre Allamaa, Panagiotis Patrinos, Toshiyuki Ohtsuka, Tong Duy Son
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 392-399, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.058

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

Autorzy: Amon Lahr, Andrea Zanelli, Andrea Carron, Melanie N. Zeilinger
Opublikowane w: European Journal of Control, Numer 74, 2024, Strona(/y) 100862, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2023.100862

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

Autorzy: Leonardo Cecchin, Toshiyuki Ohtsuka, Adrian Trachte, Moritz Diehl
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 281-287, ISSN 2405-8963
Wydawca: 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

Autorzy: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Opublikowane w: Nonlinear Analysis: Hybrid Systems, Numer 52, 2024, Strona(/y) 101460, ISSN 1751-570X
Wydawca: Elsevier BV
DOI: 10.1016/j.nahs.2023.101460

Learning Control Affine Neural NARX Models for Internal Model Control Design

Autorzy: Jing Xie, Fabio Bonassi, Riccardo Scattolini
Opublikowane w: IEEE Transactions on Automation Science and Engineering, Numer 22, 2025, Strona(/y) 8137-8149, ISSN 1545-5955
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3479321

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

Autorzy: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Opublikowane w: IEEE Transactions on Control Systems Technology, 2024, Strona(/y) 1-16, ISSN 1063-6536
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2024.3437163

Stability of Progressively Tightening Model Predictive Control in Continuous Time

Autorzy: Katrin Baumgärtner, Moritz Diehl
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 349-355, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.054

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

Autorzy: Andreas Themelis; Lorenzo Stella; Panagiotis Patrinos
Opublikowane w: Computational Optimization and Applications, Numer 82-2, 2022, ISSN 0926-6003
Wydawca: 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

Autorzy: Armin Nurkanović, Anton Pozharskiy, Jonathan Frey, Moritz Diehl
Opublikowane w: Nonlinear Analysis: Hybrid Systems, Numer 54, 2024, Strona(/y) 101518, ISSN 1751-570X
Wydawca: Elsevier BV
DOI: 10.1016/j.nahs.2024.101518

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

Autorzy: Florian Messerer, Katrin Baumgärtner, Armin Nurkanović, Moritz Diehl
Opublikowane w: Nonlinear Analysis: Hybrid Systems, Numer 53, 2024, Strona(/y) 101499, ISSN 1751-570X
Wydawca: Elsevier BV
DOI: 10.1016/j.nahs.2024.101499

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

Autorzy: Florian Messerer, Katrin Baumgärtner, Sergio Lucia, Moritz Diehl
Opublikowane w: IEEE Control Systems Letters, Numer 8, 2024, Strona(/y) 508-513, ISSN 2475-1456
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3396611

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

Autorzy: Antoine P. Leeman, Johannes Kohler, Florian Messerer, Amon Lahr, Moritz Diehl, Melanie N. Zeilinger
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 173-180, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.027

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

Autorzy: Armin Nurkanovic, Moritz Diehl
Opublikowane w: IEEE Control Systems Letters, Numer 6, 2022, Strona(/y) 3182-3187, ISSN 2475-1456
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3181888

Solving Mathematical Programs with Complementarity Constraints Arising in Nonsmooth Optimal Control

Autorzy: Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
Opublikowane w: Vietnam Journal of Mathematics, 2024, ISSN 2305-221X
Wydawca: Springer Science + Business Media
DOI: 10.1007/s10013-024-00704-z

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

Autorzy: Nicolas Kessler, Lorenzo Fagiano
Opublikowane w: International Journal of Robust and Nonlinear Control, Numer 35, 2025, Strona(/y) 2142-2155, ISSN 1049-8923
Wydawca: 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

Autorzy: Jing Xie, Fabio Bonassi, Marcello Farina, Riccardo Scattolini
Opublikowane w: International Journal of Robust and Nonlinear Control, Numer 33, 2023, Strona(/y) 9992-10009, ISSN 1049-8923
Wydawca: 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

Autorzy: Nurkanović, Armin; Albrecht, Sebastian; Brogliato, Bernard; Diehl, Moritz
Opublikowane w: Automatica, Numer Volume 158, 2023, ISSN 0005-1098
Wydawca: Pergamon Press Ltd.

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

Autorzy: Alexander Bodard, Pieter Pas, Panagiotis Patrinos
Opublikowane w: IEEE Control Systems Letters, Numer 7, 2023, Strona(/y) 2389-2394, ISSN 2475-1456
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2023.3286331

Sim2real for Autonomous Vehicle Control using Executable Digital Twin

Autorzy: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van der Auweraer, Tong Duy Son
Opublikowane w: IFAC-PapersOnLine, Numer vol. 55 issue 24, 2022, ISSN 2405-8963
Wydawca: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.10.314

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

Autorzy: Pourya Behmandpoor, Puya Latafat, Andreas Themelis, Marc Moonen, Panagiotis Patrinos
Opublikowane w: Computational Optimization and Applications, Numer 88, 2024, Strona(/y) 71-106, ISSN 0926-6003
Wydawca: 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

Autorzy: Jonathan Frey, Armin Nurkanović, Moritz Diehl
Opublikowane w: IEEE Control Systems Letters, Numer 8, 2024, Strona(/y) 1703-1708, ISSN 2475-1456
Wydawca: 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

Autorzy: Armin Nurkanović, Mario Sperl, Sebastian Albrecht, Moritz Diehl
Opublikowane w: Numerische Mathematik, Numer 156, 2024, Strona(/y) 1115-1162, ISSN 0029-599X
Wydawca: Springer Verlag
DOI: 10.1007/s00211-024-01412-z

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

Autorzy: Leonardo Cecchin, Jonathan Frey, Stefan Gering, Maximilian Manderla, Adrian Trachte, Moritz Diehl
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 331-336, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.046

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

Autorzy: Kristoffer Fink Løwenstein, Daniele Bernardini, Lorenzo Fagiano, Alberto Bemporad
Opublikowane w: European Journal of Control, Numer 74, 2024, Strona(/y) 100861, ISSN 0947-3580
Wydawca: 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

Autorzy: Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
Opublikowane w: European Journal of Control, Numer 80, 2024, Strona(/y) 101038, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2024.101038

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

Autorzy: Yunfan Gao, Florian Messerer, Niels van Duijkeren, Moritz Diehl
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 153-158, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.024

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

Autorzy: Shiying Dong, Andrea Ghezzi, Jakob Harzer, Jonathan Frey, Bingzhao Gao, Hong Chen, Moritz Diehl
Opublikowane w: IEEE Transactions on Control Systems Technology, Numer 33, 2025, Strona(/y) 807-814, ISSN 1063-6536
Wydawca: 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

Autorzy: Nicolas Kessler, Lorenzo Fagiano
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 263-268, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2024.09.041

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

Autorzy: Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 4871-4876, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1257

Data-briven Distributionally Robust Me for constrained stochastic systems

Autorzy: Peter Coppens; Panagiotis Patrinos
Opublikowane w: IEEE Control System Letters, Numer vol. 6, 2022, ISSN 2475-1456
Wydawca: IEEE
DOI: 10.1109/lcsys.2021.3091628

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

Autorzy: Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl
Opublikowane w: European Journal of Control, Numer 74, 2024, Strona(/y) 100847, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2023.100847

QPALM: a proximal augmented lagrangian method for nonconvex quadratic programs

Autorzy: Ben Hermans, Andreas Themelis, Panagiotis Patrinos
Opublikowane w: Mathematical Programming Computation volume, Numer 14, 2022, ISSN 1867-2949
Wydawca: Springer Verlag
DOI: 10.1007/s12532-022-00218-0

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

Autorzy: Jochem De Schutter, Rachel Leuthold, Thilo Bronnenmeyer, Elena Malz, Sebastien Gros, Moritz Diehl
Opublikowane w: Energies, Numer 16, 2025, Strona(/y) 1900, ISSN 1996-1073
Wydawca: 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

Autorzy: Kristoffer Fink Løwenstein, Daniele Bernardini, Panagiotis Patrinos
Opublikowane w: IEEE Control Systems Letters, Numer 8, 2024, Strona(/y) 1349-1354, ISSN 2475-1456
Wydawca: 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

Autorzy: Jochem De Schutter, Jakob Harzer, Moritz Diehl
Opublikowane w: European Journal of Control, Numer 74, 2024, Strona(/y) 100867, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2023.100867

Large-eddy simulation of airborne wind energy farms

Autorzy: Thomas Haas; Jochem De Schutter; Moritz Diehl; Johan Meyers
Opublikowane w: Wind Energy Science Discussions, Numer 2, 2021, ISSN 2366-7451
Wydawca: Copernicus Publications
DOI: 10.5194/wes-2021-141

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

Autorzy: Fabio Bonassi, Alessio La Bella, Marcello Farina, Riccardo Scattolini
Opublikowane w: Automatica, Numer 159, 2023, Strona(/y) 111381, ISSN 0005-1098
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111381

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

Autorzy: Lorenzo Sabug, Gian Paolo Incremona, Mara Tanelli, Fredy Ruiz, Lorenzo Fagiano
Opublikowane w: Control Engineering Practice, Numer 135, 2023, Strona(/y) 105516, ISSN 0967-0661
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2023.105516

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

Autorzy: Emanuel Laude, Andreas Themelis, Panagiotis Patrinos
Opublikowane w: SIAM Journal on Optimization, Numer 33, 2023, Strona(/y) 2721-2749, ISSN 1052-6234
Wydawca: Society for Industrial and Applied Mathematics
DOI: 10.1137/21m1465913

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

Autorzy: Jonathan Frey, Katrin Baumgärtner, Gianluca Frison, Moritz Diehl
Opublikowane w: Optimal Control Applications and Methods, Numer 46, 2025, Strona(/y) 827-845, ISSN 0143-2087
Wydawca: John Wiley & Sons Inc.
DOI: 10.1002/oca.3234

On the stabilization of forking and cyclic trajectories for nonlinear systems

Autorzy: Nicolas Kessler, Lorenzo Fagiano
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 199-204, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2023.12.024

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

Autorzy: Andrea Ghezzi, Florian Messerer, Jacopo Balocco, Vincenzo Manzoni, Moritz Diehl
Opublikowane w: European Journal of Control, Numer 74, 2024, Strona(/y) 100841, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2023.100841

Distributionally Robust Optimization Using Cost-Aware Ambiguity Sets

Autorzy: Mathijs Schuurmans, Panagiotis Patrinos
Opublikowane w: IEEE Control Systems Letters, Numer 7, 2023, Strona(/y) 1855-1860, ISSN 2475-1456
Wydawca: 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

Autorzy: Pieter Pas, Andreas Themelis, Panagiotis Patrinos
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 4852-4857, ISSN 2405-8963
Wydawca: 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

Autorzy: Mathijs Schuurmans, Alexander Katriniok, Christopher Meissen, H. Eric Tseng, Panagiotis Patrinos
Opublikowane w: Artificial Intelligence, Numer 320, 2024, Strona(/y) 103920, ISSN 0004-3702
Wydawca: Elsevier BV
DOI: 10.1016/j.artint.2023.103920

Energy-Optimal Trajectory Planning for Semi-Autonomous Hydraulic Excavators

Autorzy: Alessandro Cupo, Leonardo Cecchin, Ozan Demir, Lorenzo Fagiano
Opublikowane w: IFAC-PapersOnLine, Numer 58, 2025, Strona(/y) 450-455, ISSN 2405-8963
Wydawca: 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

Autorzy: Armin Nurkanović, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl
Opublikowane w: Automatica, Numer 158, 2024, Strona(/y) 111295, ISSN 0005-1098
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111295

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

Autorzy: Kevin L. Voogd, Jean Pierre Allamaa, Javier Alonso-Mora, Tong Duy Son
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 1510-1515, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1846

Dynamic soaring in wind turbine wakes

Autorzy: Jakob Harzer, Jochem De Schutter, Moritz Diehl, Johan Meyers
Opublikowane w: European Journal of Control, Numer 74, 2024, Strona(/y) 100842, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2023.100842

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

Autorzy: Riccardo Scattolini; Fabio Bonassi
Opublikowane w: European Journal of Control, Numer vol. 65, 2022, ISSN 0947-3580
Wydawca: Lavoisier
DOI: 10.1016/j.ejcon.2022.100632

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

Autorzy: Danilo Saccani, Leonardo Cecchin, Lorenzo Fagiano
Opublikowane w: IEEE Transactions on Control Systems Technology, 2022, ISSN 1063-6536
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2022.3216989

Complexity of linearized quadratic penalty for optimization with nonlinear equality constraints

Autorzy: Lahcen El Bourkhissi, Ion Necoara
Opublikowane w: Journal of Global Optimization, Numer 91, 2025, Strona(/y) 483-510, ISSN 0925-5001
Wydawca: Kluwer Academic Publishers
DOI: 10.1007/s10898-024-01456-3

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

Autorzy: Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 14258-14264
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10610134

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

Autorzy: Pieter Pas, Mathijs Schuurmans, Panagiotis Patrinos
Opublikowane w: 2022 European Control Conference (ECC), 2022
Wydawca: IEEE
DOI: 10.23919/ecc55457.2022.9838172

Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry

Autorzy: Shengchao Yan, Baohe Zhang, Yuan Zhang, Joschka Boedecker, Wolfram Burgard
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 49-55
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10610949

Safety Envelope for Orthogonal Collocation Methods in Embedded Optimal Control

Autorzy: Jean Pierre Allamaa, Panagiotis Patrinos, Herman Van Der Auweraer, Tong Duy Son
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-7
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178116

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

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

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

Autorzy: Fabio Bonassi, Alessio La Bella, Giulio Panzani, Marcello Farina, Riccardo Scattolini
Opublikowane w: 2023 European Control Conference (ECC), Numer June 2023, 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178405

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

Autorzy: Andrea Ghezzi, Léo Simpson, Adrian Bürger, Clemens Zeile, Sebastian Sager, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-7
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178130

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

Autorzy: Katrin Baumgartner, Yizhen Wang, Andrea Zanelli, Moritz Diehl
Opublikowane w: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Strona(/y) 558-563
Wydawca: IEEE
DOI: 10.1109/cdc51059.2022.9992869

Introducing the quadratically-constrained quadratic programming framework in HPIPM

Autorzy: Frison, Gianluca; Frey, Jonathan; Messerer, Florian; Zanelli, Andrea; Diehl, Moritz
Opublikowane w: 2022 European Control Conference (ECC), 2022, Strona(/y) 447-453
Wydawca: IEEE
DOI: 10.23919/ecc55457.2022.9838499

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

Autorzy: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
Opublikowane w: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Strona(/y) 5286-5293
Wydawca: IEEE
DOI: 10.1109/cdc49753.2023.10383937

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

Autorzy: Manish Prajapat, Amon Lahr, Johannes Köhler, Andreas Krause, Melanie N. Zeilinger
Opublikowane w: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Strona(/y) 7458-7465
Wydawca: IEEE
DOI: 10.1109/cdc56724.2024.10886350

Ordered Risk Minimization: Learning More from Less Data

Autorzy: Peter Coppens, Panagiotis Patrinos
Opublikowane w: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Strona(/y) 2003-2009
Wydawca: IEEE
DOI: 10.1109/cdc49753.2023.10383728

Towards lifelong learning of Recurrent Neural Networks for control design

Autorzy: Fabio Bonassi, Jing Xie, Marcello Farina, Riccardo Scattolini
Opublikowane w: 2022 European Control Conference (ECC), 2022, Strona(/y) 2018-2023
Wydawca: IEEE
DOI: 10.23919/ecc55457.2022.9838393

Fast integrators with sensitivity propagation for use in CasADi

Autorzy: Jonathan Frey, Jochem De Schutter, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178402

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

Autorzy: Andrea Ghezzi, Jasper Hoffman, Jonathan Frey, Joschka Boedecker, Moritz Diehl
Opublikowane w: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Strona(/y) 4766-4771
Wydawca: IEEE
DOI: 10.1109/cdc49753.2023.10383323

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

Autorzy: Yunfan Gao, Florian Messerer, Jonathan Frey, Niels van Duijkeren, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178311

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

Autorzy: Yuan Zhang and Jasper Hoffman and Joschka Boedecker
Opublikowane w: ECAI 2024 - 27th European Conference on Artificial Intelligence - Including 13th Conference on Prestigious Applications of Intelligent Systems (PAIS 2024), Numer 392, 2024, Strona(/y) 4402-4409
Wydawca: IOS Press

A Dynamic Programming-based Heuristic Approach for Unit Commitment Problems

Autorzy: Wim Van Roy, Ramin Abbasi-Esfeden, Jan Swevers
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-8
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178216

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

Autorzy: Katrin Baumgärtner, Florian Messerer, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-7
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178367

Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

Autorzy: Yuan Zhang, Jianhong Wang, Joschka Boedecker
Opublikowane w: Proceedings of The 7th Conference on Robot Learning, Numer 229, 2023, Strona(/y) 1400-1424
Wydawca: CoRL

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

Autorzy: Léo Simpson, Andrea Ghezzi, Jonas Asprion, Moritz Diehl
Opublikowane w: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Wydawca: IEEE
DOI: 10.1109/cdc49753.2023.10383686

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

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

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

Autorzy: Leander Hemelhof, Ivan Markovsky, Panagiotis Patrinos
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: 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

Autorzy: Katrin Baumgartner, Moritz Diehl
Opublikowane w: 2022 American Control Conference (ACC), 2022, Strona(/y) 4973-4978
Wydawca: IEEE
DOI: 10.23919/acc53348.2022.9867372

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

Autorzy: Katrin Baumgartner, Rudolf Reiter, Moritz Diehl
Opublikowane w: 2022 IEEE 61st Conference on Decision and Control (CDC), 2024, Strona(/y) 2165-2171
Wydawca: IEEE
DOI: 10.1109/cdc51059.2022.9993416

Direct Collocation for Numerical Optimal Control of Second-Order ODE

Autorzy: Léo Simpson, Armin Nurkanović, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-7
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178181

Interaction-aware Model Predictive Control for Autonomous Driving

Autorzy: Renzi Wang, Mathijs Schuurmans, Panagiotis Patrinos
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178332

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

Autorzy: Jonathan Frey, Yunfan Gao, Florian Messerer, Amon Lahr, Melanie Zeilinger, Moritz Diehl
Opublikowane w: 2024 European Control Conference (ECC), 2024, Strona(/y) 3470-3475
Wydawca: IEEE
DOI: 10.23919/ecc64448.2024.10591148

Open Ad Hoc Teamwork with Cooperative Game Theory

Autorzy: Jianhong Wang and Yang Li and Yuan Zhang and Wei Pan and Samuel Kaski
Opublikowane w: Forty-first International Conference on Machine Learning, 2024, 2024
Wydawca: ICML

A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing

Autorzy: Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-8
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178143

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

Autorzy: Léo Simpson, Jing Xie, Jonas Asprion, Riccardo Scattolini
Opublikowane w: 2024 IEEE Conference on Control Technology and Applications (CCTA), 2024, Strona(/y) 675-680
Wydawca: IEEE
DOI: 10.1109/ccta60707.2024.10666571

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

Autorzy: Katrin Baumgärtner, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178225

Least squares moment matching-based model reduction using convex optimization

Autorzy: Tudor C. Ionescu, Lahcen El Bourkhissi, Ion Necoara
Opublikowane w: 2022 26th International Conference on System Theory, Control and Computing (ICSTCC), 2022, Strona(/y) 325-330
Wydawca: IEEE
DOI: 10.1109/icstcc55426.2022.9931837

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

Autorzy: Thomas Pethick, Puya Latafat, Panagiotis Patrinos, Olivier Fercoq, Volkan Cevher
Opublikowane w: International Conference on Learning Representations., 2022
Wydawca: ICLR

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

Autorzy: Rudolf Reiter, Florian Messerer, Markus Schratter, Daniel Watzenig, Moritz Diehl
Opublikowane w: 2022 European Control Conference (ECC), 2022
Wydawca: IEEE
DOI: 10.23919/ecc55457.2022.9838100

Iterative Switching Time Optimization for Mixed-integer Optimal Control Problems

Autorzy: Ramin Abbasi-Esfeden, Wim Van Roy, Jan Swevers
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178419

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

Autorzy: Jianhong Wang and Jinxin Wang and Yuan Zhang and Yunjie Gu and Tae-Kyun Kim
Opublikowane w: Advances in Neural Information Processing Systems, 2022
Wydawca: NeurIPS 2022 Conference

Locally Weighted Regression with Approximate Derivatives for Data-based optimization

Autorzy: Leonardo Cecchin, Katrin Baumgärtner, Stefan Gering, Moritz Diehl
Opublikowane w: 2023 European Control Conference (ECC), 2023, Strona(/y) 1-6
Wydawca: IEEE
DOI: 10.23919/ecc57647.2023.10178192

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

Autorzy: Gonzalo Meza, Kristoffer Fink Løwenstein, Lorenzo Fagiano
Opublikowane w: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Strona(/y) 3365-3370
Wydawca: IEEE
DOI: 10.1109/case59546.2024.10711546

Driving from Vision through Differentiable Optimal Control

Autorzy: Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Strona(/y) 2824-2831
Wydawca: IEEE
DOI: 10.1109/iros58592.2024.10802306

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

Autorzy: Leonardo Cecchin, Adrian Trachte, Lorenzo Fagiano, Moritz Diehl
Opublikowane w: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Strona(/y) 496-501
Wydawca: IEEE
DOI: 10.1109/case59546.2024.10711371

Progressive Smoothing for Motion Planning in Real-Time NMPC

Autorzy: Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen, Moritz Diehl
Opublikowane w: 2024 European Control Conference (ECC), 2024, Strona(/y) 1816-1823
Wydawca: IEEE
DOI: 10.23919/ecc64448.2024.10590824

Linearized ADMM for Nonsmooth Nonconvex Optimization with Nonlinear Equality Constraints

Autorzy: Lahcen El Bourkhissi, Ion Necoara, Panagiotis Patrinos
Opublikowane w: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Strona(/y) 7312-7317
Wydawca: IEEE
DOI: 10.1109/cdc49753.2023.10384166

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

Autorzy: Yuan Zhang and Umashankar Deekshith and Jianhong Wang and Joschka Boedecker
Opublikowane w: 34th International Conference on Automated Planning and Scheduling, 2024
Wydawca: 34th International Conference on Automated Planning and Scheduling

LCQPow: a solver for linear complementarity quadratic programs

Autorzy: Jonas Hall, Armin Nurkanović, Florian Messerer, Moritz Diehl
Opublikowane w: Mathematical Programming Computation, Numer 17, 2025, Strona(/y) 81-109, ISSN 1867-2949
Wydawca: 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

Autorzy: Brecht Evens, Pieter Pas, Puya Latafat, Panagiotis Patrinos
Opublikowane w: Mathematical Programming, Numer Series A, 2025, ISSN 0025-5610
Wydawca: 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

Autorzy: Rudolf Reiter, Rien Quirynen, Moritz Diehl, Stefano Di Cairano
Opublikowane w: IEEE Transactions on Control Systems Technology, 2024, Strona(/y) 1-15, ISSN 1063-6536
Wydawca: 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

Autorzy: Fabio Bonassi
Opublikowane w: SpringerBriefs in Applied Sciences and Technology, Special Topics in Information Technology, 2024, Strona(/y) 77-87
Wydawca: Springer Nature Switzerland
DOI: 10.1007/978-3-031-51500-2_7

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

Autorzy: Yuan Zhang, Jasper Hoffmann, Joschka Boedecker
Opublikowane w: Frontiers in Artificial Intelligence and Applications, ECAI 2024, 2024
Wydawca: IOS Press
DOI: 10.3233/faia241018

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