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2020 – today
- 2024
[j102]Florian Messerer
, Katrin Baumgärtner, Sergio Lucia, Moritz Diehl:
Fourth-Order Suboptimality of Nominal Model Predictive Control in the Presence of Uncertainty. IEEE Control. Syst. Lett. 8: 508-513 (2024)- [j101]David Kiessling, Katrin Baumgärtner, Jonathan Frey, Wilm Decré, Jan Swevers, Moritz Diehl:
Fast Generation of Feasible Trajectories in Direct Optimal Control. IEEE Control. Syst. Lett. 8: 1168-1173 (2024) - [j100]Jonathan Frey, Armin Nurkanovic, Moritz Diehl:
Advanced-Step Real-Time Iterations With Four Levels - New Error Bounds and Fast Implementation in acados. IEEE Control. Syst. Lett. 8: 1703-1708 (2024) - [j99]Armin Nurkanovic, Mario Sperl, Sebastian Albrecht, Moritz Diehl:
Finite Elements with Switch Detection for direct optimal control of nonsmooth systems. Numerische Mathematik 156(3): 1115-1162 (2024) - [j98]Shiying Dong, Jakob Harzer, Jonathan Frey, Xiangyu Meng, Qifang Liu, Bingzhao Gao, Moritz Diehl, Hong Chen:
Cooperative Eco-Driving Control of Connected Multi-Vehicles With Spatio-Temporal Constraints. IEEE Trans. Intell. Veh. 9(1): 1733-1743 (2024) - [j97]Alessandro Saviolo, Jonathan Frey, Abhishek Rathod, Moritz Diehl, Giuseppe Loianno:
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control. IEEE Trans. Robotics 40: 1273-1291 (2024) - [c167]Leonardo Cecchin, Adrian Trachte, Lorenzo Fagiano, Moritz Diehl:
Real-time prediction of human-generated reference signals for advanced digging control. CASE 2024: 496-501 - [c166]Hannes Homburger, Stefan Wirtensohn, Moritz Diehl, Johannes Reuter:
Energy-Optimal Planning and Shrinking Horizon MPC for Vessel Docking in River Current Fields. ECC 2024: 1125-1130 - [c165]Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen, Moritz Diehl:
Progressive Smoothing for Motion Planning in Real-Time NMPC. ECC 2024: 1816-1823 - [c164]Jonathan Frey, Yunfan Gao, Florian Messerer, Amon Lahr, Melanie N. Zeilinger, Moritz Diehl:
Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados. ECC 2024: 3470-3475 - [i41]Antoine P. Leeman, Johannes Köhler, Florian Messerer, Amon Lahr, Moritz Diehl, Melanie N. Zeilinger:
Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions. CoRR abs/2401.13762 (2024) - [i40]Gösta Stomberg, Alexander Engelmann, Moritz Diehl, Timm Faulwasser:
Decentralized real-time iterations for distributed nonlinear model predictive control. CoRR abs/2401.14898 (2024) - [i39]Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen, Moritz Diehl:
Progressive Smoothing for Motion Planning in Real-Time NMPC. CoRR abs/2403.01830 (2024) - [i38]Rudolf Reiter, Armin Nurkanovic, Daniele Bernadini, Moritz Diehl, Alberto Bemporad:
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning. CoRR abs/2405.02979 (2024) - [i37]Rudolf Reiter, Rien Quirynen, Moritz Diehl, Stefano Di Cairano:
Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning. CoRR abs/2405.08122 (2024) - [i36]Rudolf Reiter, Andrea Ghezzi, Katrin Baumgärtner, Jasper Hoffmann, Robert D. McAllister, Moritz Diehl:
AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control. CoRR abs/2406.03995 (2024) - [i35]Yunfan Gao, Florian Messerer, Niels van Duijkeren, Moritz Diehl:
Stochastic Model Predictive Control with Optimal Linear Feedback for Mobile Robots in Dynamic Environments. CoRR abs/2407.14220 (2024) - [i34]Yunfan Gao, Florian Messerer, Niels van Duijkeren, Boris Houska, Moritz Diehl:
Real-Time-Feasible Collision-Free Motion Planning For Ellipsoidal Objects. CoRR abs/2409.12007 (2024) - 2023
- [j96]Adrian Bürger, Clemens Zeile, Angelika Altmann-Dieses, Sebastian Sager, Moritz Diehl:
A Gauss-Newton-based decomposition algorithm for Nonlinear Mixed-Integer Optimal Control Problems. Autom. 152: 110967 (2023) - [j95]Armin Nurkanovic, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl:
The time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumps. Autom. 158: 111295 (2023) - [j94]Florian Messerer, Katrin Baumgärtner, Moritz Diehl:
A Dual-Control Effect Preserving Formulation for Nonlinear Output-Feedback Stochastic Model Predictive Control With Constraints. IEEE Control. Syst. Lett. 7: 1171-1176 (2023) - [j93]Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl:
Stability Analysis of Nonlinear Model Predictive Control With Progressive Tightening of Stage Costs and Constraints. IEEE Control. Syst. Lett. 7: 3018-3023 (2023) - [j92]Andrea Ghezzi, Florian Messerer, Jacopo Balocco, Vincenzo Manzoni, Moritz Diehl:
An implicit and explicit dual model predictive control formulation for a steel recycling process. Eur. J. Control 74: 100841 (2023) - [j91]Jakob Harzer, Jochem De Schutter, Moritz Diehl, Johan Meyers:
Dynamic soaring in wind turbine wakes. Eur. J. Control 74: 100842 (2023) - [j90]Rudolf Reiter, Armin Nurkanovic, Jonathan Frey, Moritz Diehl:
Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC. Eur. J. Control 74: 100847 (2023) - [j89]Jochem De Schutter, Jakob Harzer, Moritz Diehl:
Vertical Airborne Wind Energy Farms with High Power Density per Ground Area based on Multi-Aircraft Systems. Eur. J. Control 74: 100867 (2023) - [j88]Arne Groß, Bernhard Wille-Haussmann, Christof Wittwer, Benjamin Achzet, Moritz Diehl:
Stochastic Nonlinear Model Predictive Control for a Switched Photovoltaic Battery System. IEEE Trans. Control. Syst. Technol. 31(2): 969-976 (2023) - [j87]Severin Hänggi, Jonathan Frey, Stijn van Dooren, Moritz Diehl, Christopher Harald Onder:
A Modular Approach for Diesel Engine Air Path Control Based on Nonlinear MPC. IEEE Trans. Control. Syst. Technol. 31(4): 1521-1536 (2023) - [j86]Ricard Bordalba, Tobias Schoels, Lluís Ros, Josep M. Porta, Moritz Diehl:
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems. IEEE Trans. Robotics 39(1): 183-202 (2023) - [c163]Léo Simpson, Andrea Ghezzi, Jonas Asprion, Moritz Diehl:
An Efficient Method for the Joint Estimation of System Parameters and Noise Covariances for Linear Time-Variant Systems. CDC 2023: 4524-4529 - [c162]Andrea Ghezzi, Jasper Hoffmann, Jonathan Frey, Joschka Boedecker, Moritz Diehl:
Imitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximation. CDC 2023: 4766-4771 - [c161]Armin Nurkanovic, Jonathan Frey, Anton Pozharskiy, Moritz Diehl:
Finite Elements with Switch Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions. CDC 2023: 5286-5293 - [c160]Wim Van Roy, Armin Nurkanovic, Ramin Abbasi-Esfeden, Jonathan Frey, Anton Pozharskiy, Jan Swevers, Moritz Diehl:
Continuous Optimization for Control of Finite-State Machines with Cascaded Hysteresis via Time-Freezing. CDC 2023: 6261-6266 - [c159]Katrin Baumgärtner, Moritz Diehl:
Local Convergence Analysis of Damping for Zero-Order Optimization-Based Iterative Learning Control. ECC 2023: 1-6 - [c158]Katrin Baumgärtner, Florian Messerer, Moritz Diehl:
A Unified Local Convergence Analysis of Differential Dynamic Programming, Direct Single Shooting, and Direct Multiple Shooting. ECC 2023: 1-7 - [c157]Leonardo Cecchin, Katrin Baumgärtner, Stefan Gering, Moritz Diehl:
Locally Weighted Regression with Approximate Derivatives for Data-based optimization. ECC 2023: 1-6 - [c156]Christian Dietz, Sebastian Albrecht, Armin Nurkanovic, Moritz Diehl:
Efficient Collision Modelling for Numerical Optimal Control. ECC 2023: 1-7 - [c155]Jonathan Frey, Jochem De Schutter, Moritz Diehl:
Fast integrators with sensitivity propagation for use in CasADi. ECC 2023: 1-6 - [c154]Yunfan Gao, Florian Messerer, Jonathan Frey, Niels van Duijkeren, Moritz Diehl:
Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC. ECC 2023: 1-6 - [c153]Andrea Ghezzi, Léo Simpson, Adrian Bürger, Clemens Zeile, Sebastian Sager, Moritz Diehl:
A Voronoi-Based Mixed-Integer Gauss-Newton Algorithm for MINLP Arising in Optimal Control. ECC 2023: 1-7 - [c152]Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker, Moritz Diehl:
A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing. ECC 2023: 1-8 - [c151]Léo Simpson, Armin Nurkanovic, Moritz Diehl:
Direct Collocation for Numerical Optimal Control of Second-Order ODE. ECC 2023: 1-7 - [c150]Ruven Weiss, Moritz Diehl, Johannes Reuter:
Observability of an Industrial Heating Process with Diffusion and Transportation. MMAR 2023: 133-138 - [i33]Armin Nurkanovic, Jonathan Frey, Anton Pozharskiy, Moritz Diehl:
Finite Elements with Switched Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions. CoRR abs/2303.18066 (2023) - [i32]Andrea Ghezzi, Jasper Hoffmann, Jonathan Frey, Joschka Boedecker, Moritz Diehl:
Imitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximation. CoRR abs/2304.01782 (2023) - [i31]Ricard Bordalba, Tobias Schoels, Lluís Ros, Josep M. Porta, Moritz Diehl:
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems. CoRR abs/2304.12908 (2023) - [i30]Yunfan Gao, Florian Messerer, Jonathan Frey, Niels van Duijkeren, Moritz Diehl:
Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC. CoRR abs/2306.17445 (2023) - 2022
- [j85]Jonas Hall, Armin Nurkanovic, Florian Messerer, Moritz Diehl:
A Sequential Convex Programming Approach to Solving Quadratic Programs and Optimal Control Problems With Linear Complementarity Constraints. IEEE Control. Syst. Lett. 6: 536-541 (2022) - [j84]Jakob Harzer, Jochem De Schutter, Moritz Diehl:
Efficient Numerical Optimal Control for Highly Oscillatory Systems. IEEE Control. Syst. Lett. 6: 2719-2724 (2022) - [j83]Armin Nurkanovic, Moritz Diehl:
NOSNOC: A Software Package for Numerical Optimal Control of Nonsmooth Systems. IEEE Control. Syst. Lett. 6: 3110-3115 (2022) - [j82]Armin Nurkanovic, Moritz Diehl:
Continuous Optimization for Control of Hybrid Systems With Hysteresis via Time-Freezing. IEEE Control. Syst. Lett. 6: 3182-3187 (2022) - [j81]Robin Verschueren, Gianluca Frison, Dimitris Kouzoupis, Jonathan Frey, Niels van Duijkeren, Andrea Zanelli, Branimir Novoselnik, Thivaharan Albin, Rien Quirynen, Moritz Diehl:
acados - a modular open-source framework for fast embedded optimal control. Math. Program. Comput. 14(1): 147-183 (2022) - [j80]Alejandro Astudillo, Joris Gillis, Moritz Diehl, Wilm Decré, Goele Pipeleers, Jan Swevers:
Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming. IEEE Robotics Autom. Lett. 7(2): 2867-2874 (2022) - [j79]Andrea Zanelli, Julian Kullick, Hisham M. Eldeeb, Gianluca Frison, Christoph M. Hackl, Moritz Diehl:
Continuous Control Set Nonlinear Model Predictive Control of Reluctance Synchronous Machines. IEEE Trans. Control. Syst. Technol. 30(1): 130-141 (2022) - [c149]Benjamin Stickan, Gianluca Frison, Bruno Burger, Moritz Diehl:
A nonlinear Real-Time Pulse-Pattern MPC Scheme for Power-Electronics Circuits Operating in the Microseconds Range. ACC 2022: 2070-2077 - [c148]Katrin Baumgärtner, Moritz Diehl:
The Extended Gauss-Newton Method for Nonconvex Loss Functions and its Application to Time-Optimal Model Predictive Control. ACC 2022: 4973-4978 - [c147]Hannes Homburger, Stefan Wirtensohn, Moritz Diehl, Johannes Reuter:
Feature-Based Proposal Density Optimization for Nonlinear Model Predictive Path Integral Control. CCTA 2022: 1141-1146 - [c146]Katrin Baumgärtner, Yizhen Wang, Andrea Zanelli, Moritz Diehl:
Fast Nonlinear Model Predictive Control using Barrier Formulations and Squashing with a Generalized Gauss-Newton Hessian. CDC 2022: 558-563 - [c145]David Kiessling, Andrea Zanelli, Armin Nurkanovic, Joris Gillis, Moritz Diehl, Melanie N. Zeilinger, Goele Pipeleers, Jan Swevers:
A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning Problems. CDC 2022: 1196-1203 - [c144]Katrin Baumgärtner, Rudolf Reiter, Moritz Diehl:
Moving Horizon Estimation with Adaptive Regularization for Ill-Posed State and Parameter Estimation Problems. CDC 2022: 2165-2171 - [c143]Jochem De Schutter, Eugen Nuss, Katrin Baumgärtner, Dirk Abel, Moritz Diehl:
Nonlinear MPC and MHE of a Gasoline Controlled Auto-Ignition Engine based on Reduced-Order Differential Equation Models. CDC 2022: 2411-2416 - [c142]Rudolf Reiter, Florian Messerer, Markus Schratter, Daniel Watzenig, Moritz Diehl:
An Inverse Optimal Control Approach for Trajectory Prediction of Autonomous Race Cars. ECC 2022: 146-153 - [c141]Gianluca Frison, Jonathan Frey, Florian Messerer, Andrea Zanelli, Moritz Diehl:
Introducing the quadratically-constrained quadratic programming framework in HPIPM. ECC 2022: 447-453 - [c140]Manuel Kollmar, Lilli Frison, Adrian Bürger, Axel Oliva, Angelika Altmann-Dieses, Moritz Diehl:
Mixed-Integer Optimal Control of a Residential Heating Network using Linear and Nonlinear Programming Techniques. ECC 2022: 1103-1109 - [c139]Daniel Geweth, Ulrich Vollmer, Moritz Diehl:
Numerical Framework for the Field Oriented Economic Model Predictive Control of Permanent Magnet Synchronous Motors. ECC 2022: 1797-1803 - [c138]Daniel Geweth, Ulrich Vollmer, Moritz Diehl:
An Observer based Field Oriented Economic Model Predictive Control Approach for Permanent Magnet Synchronous Motors. MED 2022: 145-151 - [d1]Alejandro Astudillo, Joris Gillis, Moritz Diehl, Wilm Decré, Goele Pipeleers, Jan Swevers:
Example of the implementation of the SCQP method using the lin operator. IEEE DataPort, 2022
- [i29]Armin Nurkanovic, Moritz Diehl:
Continuous Optimization for Control of Hybrid Systems with Hysteresis via Time-Freezing. CoRR abs/2203.11510 (2022) - [i28]Armin Nurkanovic, Moritz Diehl:
NOS-NOC: A Software Package for Numerical Optimal Control of Nonsmooth Systems. CoRR abs/2203.11516 (2022) - [i27]Rudolf Reiter, Florian Messerer, Markus Schratter, Daniel Watzenig, Moritz Diehl:
An Inverse Optimal Control Approach for Trajectory Prediction of Autonomous Race Cars. CoRR abs/2204.01494 (2022) - [i26]Alessandro Saviolo, Jonathan Frey, Abhishek Rathod, Moritz Diehl, Giuseppe Loianno:
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control. CoRR abs/2210.12583 (2022) - [i25]Jochem De Schutter, Jakob Harzer, Moritz Diehl:
Vertical Airborne Wind Energy Farms with High Power Density per Ground Area based on Multi-Aircraft Systems. CoRR abs/2211.15813 (2022) - [i24]Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker, Moritz Diehl:
A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing. CoRR abs/2212.01607 (2022) - [i23]Shamil Mamedov, Rudolf Reiter, Moritz Diehl, Jan Swevers:
Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots. CoRR abs/2212.02941 (2022) - [i22]Rudolf Reiter, Armin Nurkanovic, Jonathan Frey, Moritz Diehl:
Frenet-Cartesian Model Representations for Automotive Obstacle Avoidance within Nonlinear MPC. CoRR abs/2212.13115 (2022) - 2021
- [j78]Chris Vermillion, Mitchell Cobb, Lorenzo Fagiano, Rachel Leuthold, Moritz Diehl, Roy S. Smith, Tony A. Wood, Sebastian Rapp, Roland Schmehl, David J. Olinger, Michael A. Demetriou:
Electricity in the air: Insights from two decades of advanced control research and experimental flight testing of airborne wind energy systems. Annu. Rev. Control. 52: 330-357 (2021) - [j77]Andrea Zanelli, Quoc Tran-Dinh, Moritz Diehl:
A Lyapunov function for the combined system-optimizer dynamics in inexact model predictive control. Autom. 134: 109901 (2021) - [j76]Katrin Baumgärtner, Jonathan Frey, Reza Hashemi, Moritz Diehl:
Zero-order moving horizon estimation for large-scale nonlinear processes. Comput. Chem. Eng. 154: 107433 (2021) - [j75]Armin Nurkanovic, Tommaso Sartor, Sebastian Albrecht, Moritz Diehl:
A Time-Freezing Approach for Numerical Optimal Control of Nonsmooth Differential Equations With State Jumps. IEEE Control. Syst. Lett. 5(2): 439-444 (2021) - [j74]Yuning Jiang, Dimitris Kouzoupis, Haoyu Yin, Moritz Diehl, Boris Houska:
Decentralized Optimization Over Tree Graphs. J. Optim. Theory Appl. 189(2): 384-407 (2021) - [c137]Jia-Jie Zhu, Wittawat Jitkrittum, Moritz Diehl, Bernhard Schölkopf:
Kernel Distributionally Robust Optimization: Generalized Duality Theorem and Stochastic Approximation. AISTATS 2021: 280-288 - [c136]Florian Messerer, Moritz Diehl:
An Efficient Algorithm for Tube-based Robust Nonlinear Optimal Control with Optimal Linear Feedback. CDC 2021: 6714-6721 - [c135]Rudolf Reiter, Moritz Diehl:
Parameterization Approach of the Frenet Transformation for Model Predictive Control of Autonomous Vehicles. ECC 2021: 2414-2419 - [c134]Diego M. Vieira, Antje Kilias, Moritz Diehl, Carola A. Haas, Ulrich Egert:
Adaptive Control of Sinusoidal Optogenetic Stimulation. NER 2021: 275-280 - [i21]Armin Nurkanovic, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl:
The Time-Freezing Reformulation for Numerical Optimal Control of Complementarity Lagrangian Systems with State Jumps. CoRR abs/2111.06759 (2021) - [i20]Gianluca Frison, Jonathan Frey, Florian Messerer, Andrea Zanelli, Moritz Diehl:
Introducing the quadratically-constrained quadratic programming framework in HPIPM. CoRR abs/2112.11872 (2021) - 2020
- [j73]Armin Nurkanovic, Amer Mesanovic, Mario Sperl, Sebastian Albrecht, Ulrich Münz, Rolf Findeisen, Moritz Diehl:
Optimization-based primary and secondary control of microgrids. Autom. 68(12): 1044-1058 (2020) - [j72]Jochem De Schutter, Mario Zanon, Moritz Diehl:
TuneMPC - A Tool for Economic Tuning of Tracking (N)MPC Problems. IEEE Control. Syst. Lett. 4(4): 910-915 (2020) - [j71]Arne Groß, Christof Wittwer, Moritz Diehl:
Stochastic model predictive control of photovoltaic battery systems using a probabilistic forecast model. Eur. J. Control 56: 254-264 (2020) - [j70]Sébastien Gros, Mario Zanon, Rien Quirynen, Alberto Bemporad, Moritz Diehl:
From linear to nonlinear MPC: bridging the gap via the real-time iteration. Int. J. Control 93(1): 62-80 (2020) - [j69]Gianluca Frison, Tommaso Sartor, Andrea Zanelli, Moritz Diehl:
The BLAS API of BLASFEO: Optimizing Performance for Small Matrices. ACM Trans. Math. Softw. 46(2): 15:1-15:36 (2020) - [c133]Armin Nurkanovic, Amer Mesanovic, Andrea Zanelli, Gianluca Frison, Jonathan Frey, Sebastian Albrecht, Moritz Diehl:
Real-Time Nonlinear Model Predictive Control for Microgrid Operation. ACC 2020: 4989-4995 - [c132]Jia-Jie Zhu, Wittawat Jitkrittum, Moritz Diehl, Bernhard Schölkopf:
Worst-Case Risk Quantification under Distributional Ambiguity using Kernel Mean Embedding in Moment Problem. CDC 2020: 3457-3463 - [c131]Katrin Baumgärtner, Moritz Diehl:
Zero-Order Optimization-Based Iterative Learning Control. CDC 2020: 3751-3757 - [c130]Florian Messerer, Moritz Diehl:
Determining the Exact Local Convergence Rate of Sequential Convex Programming. ECC 2020: 1280-1285 - [c129]Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl:
A Gradient Condition for the Arrival Cost in Moving Horizon Estimation. ECC 2020: 1286-1291 - [c128]Armin Nurkanovic, Sebastian Albrecht, Moritz Diehl:
Limits of MPCC Formulations in Direct Optimal Control with Nonsmooth Differential Equations. ECC 2020: 2015-2020 - [c127]Fabian Girrbach, Manon Kok, Raymond Zandbergen, Tijmen Hageman, Moritz Diehl:
Adaptive compensation of measurement delays in multi-sensor fusion for inertial motion tracking using moving horizon estimation. FUSION 2020: 1-7 - [c126]Barbara Barros Carlos, Tommaso Sartor, Andrea Zanelli, Gianluca Frison, Wolfram Burgard, Moritz Diehl, Giuseppe Oriolo:
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay. ICARCV 2020: 982-989 - [c125]Matilde Gargiani, Andrea Zanelli, Quoc Tran-Dinh, Moritz Diehl, Frank Hutter:
Transferring Optimality Across Data Distributions via Homotopy Methods. ICLR 2020 - [c124]Tobias Schoels, Luigi Palmieri, Kai O. Arras, Moritz Diehl:
An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance. ICRA 2020: 3574-3580 - [c123]Jia-Jie Zhu, Bernhard Schölkopf, Moritz Diehl:
A Kernel Mean Embedding Approach to Reducing Conservativeness in Stochastic Programming and Control. L4DC 2020: 915-923 - [i19]Tobias Schoels, Per Rutquist, Luigi Palmieri, Andrea Zanelli, Kai O. Arras, Moritz Diehl:
CIAO$^\star$: MPC-based Safe Motion Planning in Predictable Dynamic Environments. CoRR abs/2001.05449 (2020) - [i18]Jia-Jie Zhu, Bernhard Schölkopf, Moritz Diehl:
A Kernel Mean Embedding Approach to Reducing Conservativeness in Stochastic Programming and Control. CoRR abs/2001.10398 (2020) - [i17]Gianluca Frison, Moritz Diehl:
HPIPM: a high-performance quadratic programming framework for model predictive control. CoRR abs/2003.02547 (2020) - [i16]Armin Nurkanovic, Tommaso Sartor, Sebastian Albrecht, Moritz Diehl:
A Time-Freezing Approach for Numerical Optimal Control of Nonsmooth Differential Equations with State Jumps. CoRR abs/2003.08726 (2020) - [i15]Jia-Jie Zhu, Wittawat Jitkrittum, Moritz Diehl, Bernhard Schölkopf:
Worst-Case Risk Quantification under Distributional Ambiguity using Kernel Mean Embedding in Moment Problem. CoRR abs/2004.00166 (2020) - [i14]Matilde Gargiani, Andrea Zanelli, Moritz Diehl, Frank Hutter:
On the Promise of the Stochastic Generalized Gauss-Newton Method for Training DNNs. CoRR abs/2006.02409 (2020) - [i13]Jia-Jie Zhu, Wittawat Jitkrittum, Moritz Diehl, Bernhard Schölkopf:
Kernel Distributionally Robust Optimization. CoRR abs/2006.06981 (2020) - [i12]Barbara Barros Carlos, Tommaso Sartor, Andrea Zanelli, Gianluca Frison, Wolfram Burgard, Moritz Diehl, Giuseppe Oriolo:
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay. CoRR abs/2010.11264 (2020) - [i11]Matilde Gargiani, Andrea Zanelli, Quoc Tran-Dinh, Moritz Diehl, Frank Hutter:
Convergence Analysis of Homotopy-SGD for non-convex optimization. CoRR abs/2011.10298 (2020)
2010 – 2019
- 2019
- [j68]Mohammad Abdollahpouri, Rien Quirynen, Mark Haring, Tor Arne Johansen, Gergely Takács, Moritz Diehl, Boris Rohal-Ilkiv:
A homotopy-based moving horizon estimation. Int. J. Control 92(7): 1672-1681 (2019) - [j67]Joel A. E. Andersson, Joris Gillis, Greg Horn, James B. Rawlings, Moritz Diehl:
CasADi: a software framework for nonlinear optimization and optimal control. Math. Program. Comput. 11(1): 1-36 (2019) - [c122]Moritz Diehl, Florian Messerer:
Local Convergence of Generalized Gauss-Newton and Sequential Convex Programming. CDC 2019: 3942-3947 - [c121]Katrin Baumgärtner, Andrea Zanelli, Moritz Diehl:
Zero-Order Moving Horizon Estimation. CDC 2019: 4140-4146 - [c120]Jochem De Schutter, Rachel Leuthold, Thilo Bronnenmeyer, Reinhart Paelinck, Moritz Diehl:
Optimal control of stacked multi-kite systems for utility-scale airborne wind energy. CDC 2019: 4865-4870 - [c119]Benjamin Stickan, Per Rutquist, Tobias Geyer, Moritz Diehl:
Spectrum Shaping Methods for Predictive Control Approaches Applied to a Grid-Connected Power Electronics Converter. CDC 2019: 5223-5230 - [c118]Armin Nurkanovic, Andrea Zanelli, Sebastian Albrecht, Moritz Diehl:
The Advanced Step Real Time Iteration for NMPC. CDC 2019: 5298-5305 - [c117]Andrea Zanelli, Quoc Tran-Dinh, Moritz Diehl:
Contraction Estimates for Abstract Real-Time Algorithms for NMPC. CDC 2019: 8085-8092 - [c116]Jonathan Frey, Rien Quirynen, Dimitris Kouzoupis, Gianluca Frison, Jens Geisler, Axel Schild, Moritz Diehl:
Detecting and Exploiting Generalized Nonlinear Static Feedback Structures in DAE Systems for MPC. ECC 2019: 2756-2762 - [c115]Andrea Zanelli, Rien Quirynen, Moritz Diehl:
Efficient Zero-Order NMPC with Feasibility and Stability Guarantees. ECC 2019: 2769-2775 - [c114]Fabian Girrbach, Raymond Zandbergen, Manon Kok, Tijmen Hageman, Giovanni Bellusci, Moritz Diehl:
Towards In-Field and Online Calibration of Inertial Navigation Systems using Moving Horizon Estimation. ECC 2019: 4338-4343 - [i10]Gianluca Frison, Tommaso Sartor, Andrea Zanelli, Moritz Diehl:
The BLAS API of BLASFEO: optimizing performance for small matrices. CoRR abs/1902.08115 (2019) - [i9]Tobias Schoels, Luigi Palmieri, Kai Oliver Arras, Moritz Diehl:
An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Freedom. CoRR abs/1909.08267 (2019) - [i8]Andrea Zanelli, Julian Kullick, Hisham M. Eldeeb, Gianluca Frison, Christoph M. Hackl, Moritz Diehl:
Continuous Control Set Nonlinear Model Predictive Control of Reluctance Synchronous Machines. CoRR abs/1910.10681 (2019) - [i7]Jia-Jie Zhu, Krikamol Muandet, Moritz Diehl, Bernhard Schölkopf:
A New Distribution-Free Concept for Representing, Comparing, and Propagating Uncertainty in Dynamical Systems with Kernel Probabilistic Programming. CoRR abs/1911.11082 (2019) - 2018
- [j66]Rien Quirynen, Sebastien Gros, Moritz Diehl:
Inexact Newton-Type Optimization with Iterated Sensitivities. SIAM J. Optim. 28(1): 74-95 (2018) - [j65]Thivaharan Albin, Dennis Ritter, Norman Liberda, Rien Quirynen, Moritz Diehl:
In-Vehicle Realization of Nonlinear MPC for Gasoline Two-Stage Turbocharging Airpath Control. IEEE Trans. Control. Syst. Technol. 26(5): 1606-1618 (2018) - [j64]Gianluca Frison, Dimitris Kouzoupis, Tommaso Sartor, Andrea Zanelli, Moritz Diehl:
BLASFEO: Basic Linear Algebra Subroutines for Embedded Optimization. ACM Trans. Math. Softw. 44(4): 42:1-42:30 (2018) - [c113]Rien Quirynen, Moritz Diehl:
Lifted Newton-Type Optimization for Pseudospectral Methods in Nonlinear Model Predictive Control. ACC 2018: 3927-3932 - [c112]Lukas Klar, Stefan Albrecht, Moritz Diehl:
Contactless Current Sensing with Position Detection Using Model-Based Nonlinear Optimization. CCTA 2018: 7-11 - [c111]Rachel Leuthold, Jochem De Schutter, Elena C. Malz, Giovanni Licitra, Sebastien Gros, Moritz Diehl:
Operational Regions of a Multi-Kite AWE System. ECC 2018: 52-57 - [c110]Adrian Bürger, Clemens Zeile, Angelika Altmann-Dieses, Sebastian Sager, Moritz Diehl:
An Algorithm for Mixed-Integer Optimal Control of Solar Thermal Climate Systems with MPC-Capable Runtime. ECC 2018: 1379-1385 - [c109]Mikhail Katliar, Frank M. Drop, Harald Teufell, Moritz Diehl, Heinrich H. Bülthoff:
Real-Time Nonlinear Model Predictive Control of a Motion Simulator Based on a 8-DOF Serial Robot. ECC 2018: 1529-1535 - [c108]Andrea Zanelli, Greg Horn, Gianluca Frison, Moritz Diehl:
Nonlinear Model Predictive Control of a Human-sized Quadrotor. ECC 2018: 1542-1547 - [c107]Jochem De Schutter, Rachel Leuthold, Moritz Diehl:
Optimal Control of a Rigid-Wing Rotary Kite System for Airborne Wind Energy. ECC 2018: 1734-1739 - [c106]Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl:
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control. IROS 2018: 1-9 - 2017
- [j63]Mario Eduardo Villanueva, Rien Quirynen, Moritz Diehl, Benoît Chachuat, Boris Houska:
Robust MPC via min-max differential inequalities. Autom. 77: 311-321 (2017) - [j62]Tobias Lindstrøm Jensen, Moritz Diehl:
An Approach for Analyzing the Global Rate of Convergence of Quasi-Newton and Truncated-Newton Methods. J. Optim. Theory Appl. 172(1): 206-221 (2017) - [j61]Rien Quirynen, Sebastien Gros, Boris Houska, Moritz Diehl:
Lifted collocation integrators for direct optimal control in ACADO toolkit. Math. Program. Comput. 9(4): 527-571 (2017) - [j60]Fabian Girrbach, Jeroen D. Hol, Giovanni Bellusci, Moritz Diehl:
Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach. Sensors 17(5): 1159 (2017) - [j59]Robin Verschueren, Mario Zanon, Rien Quirynen, Moritz Diehl:
A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control. SIAM J. Optim. 27(3): 2085-2109 (2017) - [j58]Mario Zanon, Lars Grüne, Moritz Diehl:
Periodic Optimal Control, Dissipativity and MPC. IEEE Trans. Autom. Control. 62(6): 2943-2949 (2017) - [c105]Robin Verschueren, Hans Joachim Ferreau, Alessandro Zanarini, Mehmet Mercangöz, Moritz Diehl:
A stabilizing nonlinear model predictive control scheme for time-optimal point-to-point motions. CDC 2017: 2525-2530 - [c104]Giovanni Licitra, Adrian Bürger, Paul Williams, Richard Ruiterkamp, Moritz Diehl:
Optimum experimental design of a rigid wing AWE pumping system. CDC 2017: 4018-4025 - [c103]Andrea Zanelli, Rien Quirynen, Gianluca Frison, Moritz Diehl:
A partially tightened real-time iteration scheme for nonlinear model predictive control. CDC 2017: 4388-4393 - [i6]Gianluca Frison, Dimitris Kouzoupis, Andrea Zanelli, Moritz Diehl:
BLASFEO: Basic linear algebra subroutines for embedded optimization. CoRR abs/1704.02457 (2017) - [i5]Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, Moritz Diehl:
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control. CoRR abs/1711.11006 (2017) - 2016
- [j57]Le Hong Trang, Attila Kozma, Thanh An Phan, Moritz Diehl:
A sequential convex programming algorithm for minimizing a sum of Euclidean norms with non-convex constraints. Optim. Methods Softw. 31(1): 187-203 (2016) - [j56]Boris Houska, Janick V. Frasch, Moritz Diehl:
An Augmented Lagrangian Based Algorithm for Distributed NonConvex Optimization. SIAM J. Optim. 26(2): 1101-1127 (2016) - [j55]Luo Ji, James B. Rawlings, Wuhua Hu, Andrew Wynn, Moritz Diehl:
Robust Stability of Moving Horizon Estimation Under Bounded Disturbances. IEEE Trans. Autom. Control. 61(11): 3509-3514 (2016) - [j54]Boris Houska, Adeleh Mohammadi, Moritz Diehl:
A Short Note on Constrained Linear Control Systems With Multiplicative Ellipsoidal Uncertainty. IEEE Trans. Autom. Control. 61(12): 4106-4111 (2016) - [j53]Karl Worthmann, Mohamed W. Mehrez, Mario Zanon, George K. I. Mann, Raymond G. Gosine, Moritz Diehl:
Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs. IEEE Trans. Control. Syst. Technol. 24(4): 1394-1406 (2016) - [c102]Thivaharan Albin, Felix Frank, Dennis Ritter, Dirk Abel, Rien Quirynen, Moritz Diehl:
Nonlinear MPC for Combustion Engine Control: A parameter study for realizing real-time feasibility. CCA 2016: 311-316 - [c101]Dimitris Kouzoupis, Rien Quirynen, Fabian Girrbach, Moritz Diehl:
An efficient SQP algorithm for Moving Horizon Estimation with Huber penalties and multi-rate measurements. CCA 2016: 1482-1487 - [c100]Rien Quirynen, Boris Houska, Moritz Diehl:
Symmetric Hessian propagation for lifted collocation integrators in direct Optimal Control. ACC 2016: 1117-1123 - [c99]Dimitris Kouzoupis, Rien Quirynen, Boris Houska, Moritz Diehl:
A block based ALADIN scheme for highly parallelizable direct Optimal Control. ACC 2016: 1124-1129 - [c98]Robin Verschueren, Niels van Duijkeren, Jan Swevers, Moritz Diehl:
Time-optimal motion planning for n-DOF robot manipulators using a path-parametric system reformulation. ACC 2016: 2092-2097 - [c97]Dimitris Kouzoupis, Rien Quirynen, Jesus Lago Garcia, Michael Erhard, Moritz Diehl:
A quadratically convergent primal decomposition algorithm with soft coupling for nonlinear parameter estimation. CDC 2016: 1086-1092 - [c96]Robin Verschueren, Niels van Duijkeren, Rien Quirynen, Moritz Diehl:
Exploiting convexity in direct Optimal Control: a sequential convex quadratic programming method. CDC 2016: 1099-1104 - [c95]Gianluca Frison, Dimitris Kouzoupis, John Bagterp Jørgensen, Moritz Diehl:
An efficient implementation of partial condensing for Nonlinear Model Predictive Control. CDC 2016: 4457-4462 - [c94]Robin Verschueren, Mario Zanon, Rien Quirynen, Moritz Diehl:
Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm. ECC 2016: 141-147 - [c93]Niels van Duijkeren, Robin Verschueren, Goele Pipeleers, Moritz Diehl, Jan Swevers:
Path-following NMPC for serial-link robot manipulators using a path-parametric system reformulation. ECC 2016: 477-482 - [c92]Giovanni Licitra, Sören Sieberling, S. Engelen, Paul Williams, Richard Ruiterkamp, Moritz Diehl:
Optimal control for minimizing power consumption during holding patterns for airborne wind energy pumping system. ECC 2016: 1574-1579 - 2015
- [j52]Boris Houska, Dries Telen, Filip Logist, Moritz Diehl, Jan F. M. Van Impe:
An economic objective for the optimal experiment design of nonlinear dynamic processes. Autom. 51: 98-103 (2015) - [j51]Janick V. Frasch, Sebastian Sager, Moritz Diehl:
A parallel quadratic programming method for dynamic optimization problems. Math. Program. Comput. 7(3): 289-329 (2015) - [j50]Attila Kozma, Christian Conte, Moritz Diehl:
Benchmarking large-scale distributed convex quadratic programming algorithms. Optim. Methods Softw. 30(1): 191-214 (2015) - [c91]Sebastien Gros, Mario Zanon, Moritz Diehl:
Baumgarte stabilisation over the SO(3) rotation group for control. CDC 2015: 620-625 - [c90]Thivaharan Albin, Dennis Ritter, Dirk Abel, Norman Liberda, Rien Quirynen, Moritz Diehl:
Nonlinear MPC for a two-stage turbocharged gasoline engine airpath. CDC 2015: 849-856 - [c89]Rien Quirynen, Sebastien Gros, Moritz Diehl:
Lifted implicit integrators for direct optimal control. CDC 2015: 3212-3217 - [c88]Adeleh Mohammadi, Moritz Diehl, Mario Zanon:
Estimation of uncertain ARX models with ellipsoidal parameter variability. ECC 2015: 1766-1771 - [c87]D. Kwame Minde Kufoalor, B. J. T. Binder, Hans Joachim Ferreau, Lars Imsland, Tor Arne Johansen, Moritz Diehl:
Automatic deployment of industrial embedded model predictive control using qpOASES. ECC 2015: 2601-2608 - [c86]Dimitris Kouzoupis, Hans Joachim Ferreau, Helfried Peyrl, Moritz Diehl:
First-order methods in embedded nonlinear model predictive control. ECC 2015: 2617-2622 - [c85]Rien Quirynen, Mario Zanon, Attila Kozma, Moritz Diehl:
A compression algorithm for real-time distributed nonlinear MPC. ECC 2015: 3422-3427 - [r1]Moritz Diehl:
Optimization Algorithms for Model Predictive Control. Encyclopedia of Systems and Control 2015 - [i4]Michael Erhard, Greg Horn, Moritz Diehl:
A quaternion-based model for optimal control of the SkySails airborne wind energy system. CoRR abs/1508.05494 (2015) - 2014
- [j49]Vyacheslav Kungurtsev, Moritz Diehl:
Sequential quadratic programming methods for parametric nonlinear optimization. Comput. Optim. Appl. 59(3): 475-509 (2014) - [j48]Dinh Quoc Tran, Ion Necoara, Moritz Diehl:
Path-following gradient-based decomposition algorithms for separable convex optimization. J. Glob. Optim. 59(1): 59-80 (2014) - [j47]Hans Joachim Ferreau, Christian Kirches, Andreas Potschka, Hans Georg Bock, Moritz Diehl:
qpOASES: a parametric active-set algorithm for quadratic programming. Math. Program. Comput. 6(4): 327-363 (2014) - [j46]Andrew Wynn, Milan Vukov, Moritz Diehl:
Convergence Guarantees for Moving Horizon Estimation Based on the Real-Time Iteration Scheme. IEEE Trans. Autom. Control. 59(8): 2215-2221 (2014) - [j45]Bruno Defraene, Toon van Waterschoot, Moritz Diehl, Marc Moonen:
Embedded-Optimization-Based Loudspeaker Precompensation Using a Hammerstein Loudspeaker Model. IEEE ACM Trans. Audio Speech Lang. Process. 22(11): 1648-1659 (2014) - [j44]Pieter Janssens, Goele Pipeleers, Moritz Diehl, Jan Swevers:
Energy-Optimal Time Allocation of a Series of Point-to-Point Motions. IEEE Trans. Control. Syst. Technol. 22(6): 2432-2435 (2014) - [j43]Wannes Van Loock, Goele Pipeleers, Moritz Diehl, Joris De Schutter, Jan Swevers:
Optimal Path Following for Differentially Flat Robotic Systems Through a Geometric Problem Formulation. IEEE Trans. Robotics 30(4): 980-985 (2014) - [c84]Attila Kozma, Emil Klintberg, Sebastien Gros, Moritz Diehl:
An improved Distributed Dual Newton-CG method for convex quadratic programming problems. ACC 2014: 2324-2329 - [c83]Sebastien Gros, Rien Quirynen, Moritz Diehl:
An improved real-time economic NMPC scheme for Wind Turbine control using spline-interpolated aerodynamic coefficients. CDC 2014: 935-940 - [c82]Robin Verschueren, Stijn De Bruyne, Mario Zanon, Janick V. Frasch, Moritz Diehl:
Towards time-optimal race car driving using nonlinear MPC in real-time. CDC 2014: 2505-2510 - [c81]Mario Zanon, Sebastien Gros, Moritz Diehl:
Local properties of economic NMPC, dissipativity and dynamic programming. CDC 2014: 2746-2751 - [c80]Rien Quirynen, Boris Houska, Mattia Vallerio, Dries Telen, Filip Logist, Jan F. M. Van Impe, Moritz Diehl:
Symmetric algorithmic differentiation based exact Hessian SQP method and software for Economic MPC. CDC 2014: 2752-2757 - [c79]Mario Zanon, Greg Horn, Sebastien Gros, Moritz Diehl:
Control of Dual-Airfoil Airborne Wind Energy systems based on nonlinear MPC and MHE. ECC 2014: 1801-1806 - [c78]Vyacheslav Kungurtsev, Attila Kozma, Moritz Diehl:
Linear convergence of distributed multiple shooting. ECC 2014: 2874-2879 - 2013
- [j42]Moritz Diehl, Boris Houska, Oliver Stein, Paul Steuermann:
A lifting method for generalized semi-infinite programs based on lower level Wolfe duality. Comput. Optim. Appl. 54(1): 189-210 (2013) - [j41]Dinh Quoc Tran, Carlo Savorgnan, Moritz Diehl:
Combining Lagrangian decomposition and excessive gap smoothing technique for solving large-scale separable convex optimization problems. Comput. Optim. Appl. 55(1): 75-111 (2013) - [j40]Frederik Debrouwere, Wannes Van Loock, Goele Pipeleers, Moritz Diehl, Jan Swevers, Joris De Schutter:
Convex time-optimal robot path following with Cartesian acceleration and inertial force and torque constraints. J. Syst. Control. Eng. 227(10): 724-732 (2013) - [j39]Boris Houska, Moritz Diehl:
Nonlinear robust optimization via sequential convex bilevel programming. Math. Program. 142(1-2): 539-577 (2013) - [j38]Dinh Quoc Tran, Ion Necoara, Carlo Savorgnan, Moritz Diehl:
An Inexact Perturbed Path-Following Method for Lagrangian Decomposition in Large-Scale Separable Convex Optimization. SIAM J. Optim. 23(1): 95-125 (2013) - [j37]Bruno Defraene, Naim Mansour, Steven De Hertogh, Toon van Waterschoot, Moritz Diehl, Marc Moonen:
Declipping of Audio Signals Using Perceptual Compressed Sensing. IEEE ACM Trans. Audio Speech Lang. Process. 21(12): 2627-2637 (2013) - [j36]Mario Zanon, Sebastien Gros, Joel Andersson, Moritz Diehl:
Airborne Wind Energy Based on Dual Airfoils. IEEE Trans. Control. Syst. Technol. 21(4): 1215-1222 (2013) - [j35]Frederik Debrouwere, Wannes Van Loock, Goele Pipeleers, Dinh Quoc Tran, Moritz Diehl, Joris De Schutter, Jan Swevers:
Time-Optimal Path Following for Robots With Convex-Concave Constraints Using Sequential Convex Programming. IEEE Trans. Robotics 29(6): 1485-1495 (2013) - [c77]Sebastien Gros, Moritz Diehl:
NMPC based on Huber penalty functions to handle large deviations of quadrature states. ACC 2013: 3159-3164 - [c76]Kurt Geebelen, A. Wagner, Sebastien Gros, Jan Swevers, Moritz Diehl:
Moving Horizon Estimation with a huber penalty function for robust pose estimation of tethered airplanes. ACC 2013: 6169-6174 - [c75]Per-Ola Larsson, Francesco Casella, Fredrik Magnusson, Joel Andersson, Moritz Diehl, Johan Åkesson:
A framework for nonlinear model-predictive control using object-oriented modeling with a case study in power plant start-up. CACSD 2013: 346-351 - [c74]Sebastien Gros, Milan Vukov, Moritz Diehl:
A real-time MHE and NMPC scheme for wind turbine control. CDC 2013: 1007-1012 - [c73]Attila Kozma, Janick V. Frasch, Moritz Diehl:
A distributed method for convex quadratic programming problems arising in optimal control of distributed systems. CDC 2013: 1526-1531 - [c72]Dinh Quoc Tran, Ion Necoara, Moritz Diehl:
A dual decomposition algorithm for separable nonconvex optimization using the penalty function framework. CDC 2013: 2372-2377 - [c71]Rien Quirynen, Sebastien Gros, Moritz Diehl:
Efficient NMPC for nonlinear models with linear subsystems. CDC 2013: 5101-5106 - [c70]Mario Zanon, Sebastien Gros, Moritz Diehl:
A Lyapunov function for periodic economic optimizing Model Predictive Control. CDC 2013: 5107-5112 - [c69]Milan Vukov, Alexander Domahidi, Hans Joachim Ferreau, Manfred Morari, Moritz Diehl:
Auto-generated algorithms for nonlinear model predictive control on long and on short horizons. CDC 2013: 5113-5118 - [c68]Joris Gillis, Moritz Diehl:
A positive definiteness preserving discretization method for Lyapunov differential equations. CDC 2013: 7759-7764 - [c67]Alachew Shitahun, Vitalij Ruge, Mahder Gebremedhin, Bernhard Bachmann, Lars Eriksson, Joel Andersson, Moritz Diehl, Peter Fritzson:
Tool Demonstration Abstract: OpenModelica and CasADi for Model-Based Dynamic Optimization. EOOLT 2013: 107-108 - [c66]Sebastien Gros, Mario Zanon, Moritz Diehl:
A relaxation strategy for the optimization of Airborne Wind Energy systems. ECC 2013: 1011-1016 - [c65]Sebastien Gros, Mario Zanon, Moritz Diehl:
Control of Airborne Wind Energy systems based on Nonlinear Model Predictive Control & Moving Horizon Estimation. ECC 2013: 1017-1022 - [c64]Mario Zanon, Sebastien Gros, Moritz Diehl:
Rotational start-up of tethered airplanes based on nonlinear MPC and MHE. ECC 2013: 1023-1028 - [c63]Dries Telen, Boris Houska, Filip Logist, Moritz Diehl, Jan F. M. Van Impe:
Guaranteed robust optimal experiment design for nonlinear dynamic systems. ECC 2013: 2939-2944 - [c62]Rien Quirynen, Sebastien Gros, Moritz Diehl:
Fast auto generated ACADO integrators and application to MHE with multi-rate measurements. ECC 2013: 3077-3082 - [c61]Mario Zanon, Janick V. Frasch, Moritz Diehl:
Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving. ECC 2013: 4130-4135 - [c60]Janick V. Frasch, Andrew Gray, Mario Zanon, Hans Joachim Ferreau, Sebastian Sager, Francesco Borrelli, Moritz Diehl:
An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles. ECC 2013: 4136-4141 - [c59]Janick V. Frasch, Tom Kraus, Wouter Saeys, Moritz Diehl:
Moving horizon observation for autonomous operation of agricultural vehicles. ECC 2013: 4148-4153 - [c58]Bruno Defraene, Toon van Waterschoot, Moritz Diehl, Marc Moonen:
Embedded-optimization-based loudspeaker compensation using a generic Hammerstein loudspeaker model. EUSIPCO 2013: 1-5 - [c57]Toon van Waterschoot, Bruno Defraene, Moritz Diehl, Marc Moonen:
Embedded optimization algorithms for multi-microphone dereverberation. EUSIPCO 2013: 1-5 - [c56]Frederik Debrouwere, Wannes Van Loock, Goele Pipeleers, Dinh Quoc Tran, Moritz Diehl, Joris De Schutter, Jan Swevers:
Optimal robot path following for minimal time versus energy loss trade-off using sequential convex programming. ICM 2013: 316-320 - [c55]Frederik Debrouwere, Wannes Van Loock, Goele Pipeleers, Dinh Quoc Tran, Moritz Diehl, Joris De Schutter, Jan Swevers:
Time-optimal path following for robots with trajectory jerk constraints using sequential convex programming. ICRA 2013: 1916-1921 - [c54]Frederik Debrouwere, Wannes Van Loock, Goele Pipeleers, Moritz Diehl, Joris De Schutter, Jan Swevers:
Time-optimal path following for robots with object collision avoidance using lagrangian duality. RoMoCo 2013: 186-191 - 2012
- [j34]Filip Logist, Mattia Vallerio, Boris Houska, Moritz Diehl, Jan F. M. Van Impe:
Multi-objective optimal control of chemical processes using ACADO toolkit. Comput. Chem. Eng. 37: 191-199 (2012) - [j33]Sebastian Sager, Hans Georg Bock, Moritz Diehl:
The integer approximation error in mixed-integer optimal control. Math. Program. 133(1-2): 1-23 (2012) - [j32]Dinh Quoc Tran, Carlo Savorgnan, Moritz Diehl:
Adjoint-Based Predictor-Corrector Sequential Convex Programming for Parametric Nonlinear Optimization. SIAM J. Optim. 22(4): 1258-1284 (2012) - [j31]Dinh Quoc Tran, Suat Gumussoy, Wim Michiels, Moritz Diehl:
Combining Convex-Concave Decompositions and Linearization Approaches for Solving BMIs, With Application to Static Output Feedback. IEEE Trans. Autom. Control. 57(6): 1377-1390 (2012) - [j30]Bruno Defraene, Toon van Waterschoot, Hans Joachim Ferreau, Moritz Diehl, Marc Moonen:
Real-Time Perception-Based Clipping of Audio Signals Using Convex Optimization. IEEE Trans. Speech Audio Process. 20(10): 2657-2671 (2012) - [c53]Sebastien Gros, Mario Zanon, Moritz Diehl:
Orbit control for a power generating airfoil based on nonlinear MPC. ACC 2012: 137-142 - [c52]Julia Sternberg, Boris Houska, Moritz Diehl:
A structure exploiting algorithm for approximate robust optimal control with application to power generating kites. ACC 2012: 2250-2255 - [c51]Joris Gillis, Jan Goos, Kurt Geebelen, Jan Swevers, Moritz Diehl:
Optimal periodic control of power harvesting tethered airplanes: How to fly fast without wind and without propellor? ACC 2012: 2527-2532 - [c50]Kurt Geebelen, Hammad Ahmad, Milan Vukov, Sebastien Gros, Jan Swevers, Moritz Diehl:
An experimental test set-up for launch/recovery of an Airborne Wind Energy (AWE) system. ACC 2012: 4405-4410 - [c49]Milan Vukov, Wannes Van Loock, Boris Houska, Hans Joachim Ferreau, Jan Swevers, Moritz Diehl:
Experimental validation of nonlinear MPC on an overhead crane using automatic code generation. ACC 2012: 6264-6269 - [c48]Joel Andersson, Johan Åkesson, Moritz Diehl:
Dynamic optimization with CasADi. CDC 2012: 681-686 - [c47]Hans Joachim Ferreau, Tom Kraus, Milan Vukov, Wouter Saeys, Moritz Diehl:
High-speed moving horizon estimation based on automatic code generation. CDC 2012: 687-692 - [c46]Sebastien Gros, Rien Quirynen, Moritz Diehl:
Aircraft control based on fast non-linear MPC & multiple-shooting. CDC 2012: 1142-1147 - [c45]Sebastien Gros, Moritz Diehl:
Attitude estimation based on inertial and position measurements. CDC 2012: 1758-1763 - [c44]Dinh Quoc Tran, Wim Michiels, Sebastien Gros, Moritz Diehl:
An inner convex approximation algorithm for BMI optimization and applications in control. CDC 2012: 3576-3581 - [c43]Bruno Defraene, Toon van Waterschoot, Moritz Diehl, Marc Moonen:
Perception-based nonlinear loudspeaker compensation through embedded convex optimization. EUSIPCO 2012: 2472-2476 - [c42]Bruno Defraene, Kim Ngo, Toon van Waterschoot, Moritz Diehl, Marc Moonen:
A psychoacoustically motivated speech distortion weighted multi-channel wiener filter for noise reduction. ICASSP 2012: 4637-4640 - [c41]Boris Houska, Moritz Diehl:
Optimization of Stable Periodic Attractors for Nonlinear Dynamic Systems. ROCOND 2012: 9-14 - [c40]Julia Sternberg, Boris Houska, Filip Logist, Dries Telen, Jan F. M. Van Impe, Moritz Diehl:
A Toolkit for Efficient Computation of Sensitivities in Approximate Robust Optimal Control Problems. ROCOND 2012: 189-194 - [c39]Julia Sternberg, Boris Houska, Sebastien Gros, Moritz Diehl:
Approximate Robust Optimal Control of Periodic Systems with Invariants and High-Index Differential Algebraic Systems. ROCOND 2012: 690-695 - [c38]Sebastian Recker, Peter Kühl, Moritz Diehl, Hans Georg Bock:
Sigmapoint Approach for Robust Optimization of Nonlinear Dynamic Systems. SIMULTECH 2012: 199-207 - 2011
- [j29]Boris Houska, Hans Joachim Ferreau, Moritz Diehl:
An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. Autom. 47(10): 2279-2285 (2011) - [j28]Peter Kühl, Moritz Diehl, Tom Kraus, Johannes P. Schlöder, Hans Georg Bock:
A real-time algorithm for moving horizon state and parameter estimation. Comput. Chem. Eng. 35(1): 71-83 (2011) - [j27]Dirk Abbeloos, Moritz Diehl, Michael Hinze, Stefan Vandewalle:
Nested multigrid methods for time-periodic, parabolic optimal control problems. Comput. Vis. Sci. 14(1): 27-38 (2011) - [j26]Moritz Diehl, Rishi Amrit, James B. Rawlings:
A Lyapunov Function for Economic Optimizing Model Predictive Control. IEEE Trans. Autom. Control. 56(3): 703-707 (2011) - [c37]Marnix Volckaert, Moritz Diehl, Jan Swevers:
Iterative learning control for nonlinear systems with input constraints and discontinuously changing dynamics. ACC 2011: 3035-3040 - [c36]Lieboud Van den Broeck, Moritz Diehl, Jan Swevers:
Experimental validation of time optimal MPC on a flexible motion system. ACC 2011: 4749-4754 - [c35]Dinh Quoc Tran, Carlo Savorgnan, Moritz Diehl:
Real-time sequential convex programming for nonlinear model predictive control and application to a hydro-power plant. CDC/ECC 2011: 5905-5910 - [c34]Bruno Defraene, Toon van Waterschoot, Moritz Diehl, Marc Moonen:
A fast projected gradient optimization method for real-time perception-based clipping of audio signals. ICASSP 2011: 333-336 - [i3]Dinh Quoc Tran, Carlo Savorgnan, Moritz Diehl:
Real-Time Sequential Convex Programming for Optimal Control Applications. CoRR abs/1105.3427 (2011) - [i2]Dinh Quoc Tran, Carlo Savorgnan, Moritz Diehl:
Combining Lagrangian Decomposition and Excessive Gap Smoothing Technique for Solving Large-Scale Separable Convex Optimization Problems. CoRR abs/1105.5427 (2011) - [i1]Dinh Quoc Tran, Suat Gumussoy, Wim Michiels, Moritz Diehl:
Combining Convex-Concave Decompositions and Linearization Approaches for solving BMIs, with application to Static Output Feedback. CoRR abs/1109.3320 (2011) - 2010
- [j25]Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja D. Mombaur, Moritz Diehl:
Online Walking Motion Generation with Automatic Footstep Placement. Adv. Robotics 24(5-6): 719-737 (2010) - [j24]Anne Van Mulders, Johan Schoukens, Marnix Volckaert, Moritz Diehl:
Two nonlinear optimization methods for black box identification compared. Autom. 46(10): 1675-1681 (2010) - [j23]Julian Bonilla Alarcon, Moritz Diehl, Filip Logist, Bart De Moor, Jan F. M. Van Impe:
An automatic initialization procedure in parameter estimation problems with parameter-affine dynamic models. Comput. Chem. Eng. 34(6): 953-964 (2010) - [j22]Achim Küpper, Leonard Wirsching, Moritz Diehl, Johannes P. Schlöder, Hans Georg Bock, Sebastian Engell:
Online identification of adsorption isotherms in SMB processes via efficient moving horizon state and parameter estimation. Comput. Chem. Eng. 34(12): 1969-1983 (2010) - [j21]Moritz Diehl, Andrea Walther, Hans Georg Bock, Ekaterina A. Kostina:
An adjoint-based SQP algorithm with quasi-Newton Jacobian updates for inequality constrained optimization. Optim. Methods Softw. 25(4): 531-552 (2010) - [j20]Jan Albersmeyer, Moritz Diehl:
The Lifted Newton Method and Its Application in Optimization. SIAM J. Optim. 20(3): 1655-1684 (2010) - [j19]Lieboud Van den Broeck, Moritz Diehl, Jan Swevers:
Embedded Optimization for Input Shaping. IEEE Trans. Control. Syst. Technol. 18(5): 1146-1154 (2010) - [c33]Boris Houska, Moritz Diehl:
Robustness and Stability Optimization of Power Generating Kite Systems in a Periodic Pumping Mode. CCA 2010: 2172-2177 - [c32]Lieboud Van den Broeck, Moritz Diehl, Jan Swevers:
Experimental validation of time optimal MPC on a linear drive system. AMC 2010: 355-360 - [c31]Jan Swevers, Goele Pipeleers, Moritz Diehl, Joris De Schutter:
Pushing motion control systems to their limits using convex optimization techniques. AMC 2010: 807-814 - [c30]Boris Houska, Moritz Diehl:
Nonlinear robust optimization of uncertainty affine dynamic systems under the L-infinity norm. CACSD 2010: 1091-1096 - [c29]Joel Andersson, Boris Houska, Moritz Diehl:
Towards a Computer Algebra System with Automatic Differentiation for use with Object-Oriented modelling languages. EOOLT 2010: 99-105 - [c28]Bruno Defraene, Toon van Waterschoot, Hans Joachim Ferreau, Moritz Diehl, Marc Moonen:
Perception-based clipping of audio signals. EUSIPCO 2010: 517-521
2000 – 2009
- 2009
- [j18]Moritz Diehl, Boris Houska:
Windenergienutzung mit schnell fliegenden Flugdrachen: eine Herausforderung für die Optimierung und Regelung (Wind Power via Fast Flying Kites: a Challenge for Optimization and Control). Autom. 57(10): 525-538 (2009) - [j17]Joris Vanbiervliet, Bart Vandereycken, Wim Michiels, Stefan Vandewalle, Moritz Diehl:
The Smoothed Spectral Abscissa for Robust Stability Optimization. SIAM J. Optim. 20(1): 156-171 (2009) - [j16]Oscar Mauricio Agudelo, Michel Baes, Jairo Jose Espinosa, Moritz Diehl, Bart De Moor:
Positive Polynomial Constraints for POD-based Model Predictive Controllers. IEEE Trans. Autom. Control. 54(5): 988-999 (2009) - [j15]Moritz Diehl, Katja D. Mombaur, Dominikus Noll:
Stability Optimization of Hybrid Periodic Systems via a Smooth Criterion. IEEE Trans. Autom. Control. 54(8): 1875-1880 (2009) - [j14]Diederik Verscheure, Bram Demeulenaere, Jan Swevers, Joris De Schutter, Moritz Diehl:
Time-Optimal Path Tracking for Robots: A Convex Optimization Approach. IEEE Trans. Autom. Control. 54(10): 2318-2327 (2009) - [c27]Lieboud Van den Broeck, Moritz Diehl, Jan Swevers:
Performant design of an input shaping prefilter via embedded optimization. ACC 2009: 166-171 - [c26]Diederik Verscheure, Moritz Diehl, Joris De Schutter, Jan Swevers:
Recursive log-barrier method for on-line time-optimal robot path tracking. ACC 2009: 4134-4140 - [c25]Carlo Savorgnan, Jean B. Lasserre, Moritz Diehl:
Discrete-time stochastic optimal control via occupation measures and moment relaxations. CDC 2009: 519-524 - [c24]Ion Necoara, Carlo Savorgnan, Dinh Quoc Tran, Johan A. K. Suykens, Moritz Diehl:
Distributed nonlinear optimal control using sequential convex programming and smoothing techniques. CDC 2009: 543-548 - [c23]Niels Haverbeke, Moritz Diehl, Bart De Moor:
A structure exploiting interior-point method for moving horizon estimation. CDC 2009: 1273-1278 - [c22]Boris Houska, Moritz Diehl:
Robust nonlinear optimal control of dynamic systems with affine uncertainties. CDC 2009: 2274-2279 - [c21]Dinh Quoc Tran, Moritz Diehl:
An application of sequential convex programming to time optimal trajectory planning for a car motion. CDC 2009: 4366-4371 - [c20]Julian Bonilla Alarcon, Moritz Diehl, Filip Logist, Bart De Moor, Jan F. M. Van Impe:
A convex approximation for parameter estimation involving parameter-affine dynamic models. CDC 2009: 4670-4675 - [c19]Boris Houska, Filip Logist, Jan F. M. Van Impe, Moritz Diehl:
Approximate robust optimization of time-periodic stationary states with application to biochemical processes. CDC 2009: 6280-6285 - [c18]Lieboud Van den Broeck, Moritz Diehl, Jan Swevers:
Time optimal MPC for mechatronic applications. CDC 2009: 8040-8045 - [c17]Dinh Quoc Tran, Carlo Savorgnan, Moritz Diehl:
Real-Time Sequential Convex Programming for Optimal Control Applications. HPSC 2009: 91-102 - [c16]Diederik Verscheure, Moritz Diehl, Joris De Schutter, Jan Swevers:
On-line time-optimal path tracking for robots. ICRA 2009: 599-605 - 2008
- [j13]Moritz Diehl, Johannes Gerhard, Wolfgang Marquardt, Martin Mönnigmann:
Numerical solution approaches for robust nonlinear optimal control problems. Comput. Chem. Eng. 32(6): 1279-1292 (2008) - [j12]Michel Baes, Moritz Diehl, Ion Necoara:
Every Continuous Nonlinear Control System Can be Obtained by Parametric Convex Programming. IEEE Trans. Autom. Control. 53(8): 1963-1967 (2008) - [j11]Paschalis Tsiaflakis, Moritz Diehl, Marc Moonen:
Distributed Spectrum Management Algorithms for Multiuser DSL Networks. IEEE Trans. Signal Process. 56(10-1): 4825-4843 (2008) - [c15]Julian Bonilla Alarcon, Moritz Diehl, Bart De Moor, Jan F. M. Van Impe:
A nonlinear least squares estimation procedure without initial parameter guesses. CDC 2008: 5519-5524 - [c14]Bart Saerens, Moritz Diehl, Jan Swevers, Eric Van den Bulck:
Model predictive control of automotive powertrains - first experimental results. CDC 2008: 5692-5697 - [c13]Dimitar Dimitrov, Pierre-Brice Wieber, Hans Joachim Ferreau, Moritz Diehl:
On the implementation of model predictive control for on-line walking pattern generation. ICRA 2008: 2685-2690 - [c12]Holger Diedam, Dimitar Dimitrov, Pierre-Brice Wieber, Katja D. Mombaur, Moritz Diehl:
Online walking gait generation with adaptive foot positioning through Linear Model Predictive control. IROS 2008: 1121-1126 - 2007
- [j10]Hans Joachim Ferreau, Peter Ortner, Peter Langthaler, Luigi del Re, Moritz Diehl:
Predictive control of a real-world Diesel engine using an extended online active set strategy. Annu. Rev. Control. 31(2): 293-301 (2007) - [j9]Sebastian Sager, Ulrich Brandt-Pollmann, Moritz Diehl, Dirk Lebiedz, Hans Georg Bock:
Exploiting system homogeneities in large scale optimal control problems for speedup of multiple shooting based SQP methods. Comput. Chem. Eng. 31(9): 1181-1186 (2007) - [j8]Moritz Diehl:
Formulation of Closed-Loop Min-Max MPC as a Quadratically Constrained Quadratic Program. IEEE Trans. Autom. Control. 52(2): 339-343 (2007) - 2006
- [j7]Moritz Diehl, Peter Kühl, Hans Georg Bock, Johannes P. Schlöder:
Schnelle Algorithmen für die Zustands- und Parameterschätzung auf bewegten Horizonten (Fast Algorithms for State and Parameter Estimation on Moving Horizons). Autom. 54(12): 602-613 (2006) - [j6]Jakob E. Björnberg, Moritz Diehl:
Approximate robust dynamic programming and robustly stable MPC. Autom. 42(5): 777-782 (2006) - [j5]Moritz Diehl, Hans Georg Bock, Ekaterina A. Kostina:
An approximation technique for robust nonlinear optimization. Math. Program. 107(1-2): 213-230 (2006) - [j4]Moritz Diehl, Florian Jarre, Christoph H. Vogelbusch:
Loss of Superlinear Convergence for an SQP-Type Method with Conic Constraints. SIAM J. Optim. 16(4): 1201-1210 (2006) - [c11]Chiara Albanesi, Marco Bossi, Lalo Magni, Jurij Paderno, Francesco Pretolani, Peter Kühl, Moritz Diehl:
Optimization of the Start-up Procedure of a Combined Cycle Power Plant. CDC 2006: 1840-1845 - [c10]Boris Houska, Moritz Diehl:
Optimal Control of Towing Kites. CDC 2006: 2693-2697 - [c9]Jakob E. Björnberg, Moritz Diehl:
Approximate Dynamic Programming for Generation of Robustly Stable Feedback Controllers. HPSC 2006: 69-85 - [c8]Tom Kraus, Peter Kühl, Leonard Wirsching, Hans Georg Bock, Moritz Diehl:
A Moving Horizon State Estimation algorithm applied to the Tennessee Eastman Benchmark Process. MFI 2006: 377-382 - [c7]Sebastian Sager, Moritz Diehl, Gundeep Singh, Achim Küpper, Sebastian Engell:
Determining SMB Superstructures by Mixed-Integer Optimal Control. OR 2006: 37-42 - 2005
- [j3]Moritz Diehl, Hans Georg Bock, Johannes P. Schlöder:
A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control. SIAM J. Control. Optim. 43(5): 1714-1736 (2005) - [c6]Moritz Diehl, Hans Georg Bock, Johannes P. Schlöder:
Real-Time Iterations for Nonlinear Optimal Feedback Control. CDC/ECC 2005: 5871-5876 - 2004
- [j2]Moritz Diehl, Lalo Magni, Giuseppe De Nicolao:
Efficient NMPC of unstable periodic systems using approximate infinite horizon closed loop costing. Annu. Rev. Control. 28(1): 37-45 (2004) - [j1]Moritz Diehl, Jakob E. Björnberg:
Robust dynamic programming for min-max model predictive control of constrained uncertain systems. IEEE Trans. Autom. Control. 49(12): 2253-2257 (2004) - 2003
- [c5]Moritz Diehl, Rolf Findeisen, Frank Allgöwer, Hans Georg Bock, Johannes P. Schlöder:
Stability of nonlinear model predictive control in the presence of errors due to numerical online optimization. CDC 2003: 1419-1424 - 2002
- [c4]Rolf Findeisen, Moritz Diehl, Tobias Bürner, Frank Allgöwer, Hans Georg Bock, Johannes P. Schlöder:
Efficient output feedback nonlinear model predictive control. ACC 2002: 4752-4757 - [c3]Rolf Findeisen, Moritz Diehl, Ilknur Disli-Uslu, Stefan Schwarzkopf, Frank Allgöwer, Hans Georg Bock, Johannes P. Schlöder, Ernst Dieter Gilles:
Computation and performance assessment of nonlinear model predictive control. CDC 2002: 4613-4618 - 2001
- [c2]Rolf Findeisen, Moritz Diehl, Zoltán K. Nagy, Frank Allgöwer, Hans Georg Bock, Johannes P. Schlöder:
Computational feasibility and performance of nonlinear model predictive control schemes. ECC 2001: 957-961 - 2000
- [c1]Zoltán K. Nagy, Rolf Findeisen, Moritz Diehl, Frank Allgöwer, Hans Georg Bock, Paul Serban Agachi, Johannes P. Schlöder, Daniel B. Leineweber:
Real-time feasibility of nonlinear predictive control for large scale processes-a case study. ACC 2000: 4249-4253
Coauthor Index
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