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+@book{lavalle2006planning,
+ title={Planning algorithms},
+ author={LaValle, Steven M},
+ year={2006},
+ publisher={Cambridge university press},
+ url = {http://planning.cs.uiuc.edu/}
+}
+@inproceedings{neunert2016open,
+ title={An open source, fiducial based, visual-inertial motion capture system},
+ author={Neunert, Michael and Bloesch, Michael and Buchli, Jonas},
+ booktitle={2016 19th International Conference on Information Fusion (FUSION)},
+ pages={1523--1530},
+ year={2016},
+ organization={IEEE},
+ url = {https://arxiv.org/abs/1507.02081}
+}
+@article{bell2012cppad,
+ title={{CppAD: a package for C++ algorithmic differentiation}},
+ author={Bell, Bradley M},
+ journal={Computational Infrastructure for Operations Research},
+ volume={57},
+ year={2012},
+ url = {https://www.coin-or.org/CppAD/Doc/cppad.xml}
+}
+@INPROCEEDINGS{frigerioCodeGen,
+author={Frigerio, M. and Buchli, J. and Caldwell, D.G.},
+booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
+title={Code generation of algebraic quantities for robot controllers},
+year={2012},
+doi={10.1109/IROS.2012.6385694},
+ISSN={2153-0858},
+month={Oct},
+url={https://bitbucket.org/robcogenteam/robcogen-superproject/wiki/Home},
+}
+@inproceedings{neunert16hexrotor,
+ author = {Michael Neunert and Cédric de Crousaz and Fadri Furrer and Mina Kamel and Farbod Farshidian and Roland Siegwart and Jonas Buchli},
+ booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
+ title = {Fast Nonlinear Model Predictive Control for Unified Trajectory Optimization and Tracking},
+ year = {2016},
+ Pages = {},
+ url = {http://ieeexplore.ieee.org/document/7487274/}
+}
+@article{Houska2011autogenerated,
+ title={An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range},
+ author={Boris Houska and Hans Joachim Ferreau and Moritz Diehl},
+ journal={Automatica},
+ year={2011},
+ volume={47},
+ pages={2279-2285},
+ url={https://www.sciencedirect.com/science/article/pii/S0005109811003918}
+}
+@Article{neunert:2017:ral,
+author = {Michael Neunert and Farbod Farshidian and Alexander W. Winkler and Jonas Buchli},
+title = {Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds},
+journal = {IEEE Robotics and Automation Letters (RA-L)},
+year = {2017},
+url = {http://ieeexplore.ieee.org/document/7845678/}
+}
+@article{slq:2005,
+ title={An efficient sequential linear quadratic algorithm for solving nonlinear optimal control problems},
+ author={Sideris, Athanasios and Bobrow, James E},
+ journal={Transactions on Automatic Control},
+ volume={50},
+ number={12},
+ pages={2043--2047},
+ year={2005},
+ url = {http://ieeexplore.ieee.org/document/1470308/?denied}
+}
+@inproceedings{bock1984direct,
+ title={A multiple shooting algorithm for direct solution of optimal control problems},
+ author={Bock, Hans Georg and Plitt, Karl-Josef},
+ year={1984},
+ booktitle={Proceedings of the IFAC World Congress},
+ url = {http://www.sciencedirect.com/science/article/pii/S1474667017612059}
+}
+@inproceedings{neunert:2016:derivatives,
+author = {Michael Neunert and Markus Giftthaler and Marco Frigerio and Claudio Semini and Jonas Buchli},
+title = {{Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation}},
+booktitle = {2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2016), San Francisco},
+year = {2016},
+url = {http://ieeexplore.ieee.org/document/7862380/}
+}
+@article{diehl:2005:real,
+ title={A real-time iteration scheme for nonlinear optimization in optimal feedback control},
+ author={Diehl, Moritz and Bock, Hans Georg and Schl{\"o}der, Johannes P},
+ journal={SIAM Journal on control and optimization},
+ volume={43},
+ number={5},
+ pages={1714--1736},
+ year={2005},
+ publisher={SIAM},
+ url = {http://epubs.siam.org/doi/abs/10.1137/S0363012902400713}
+}
+@article{diehl2005nominal,
+ title={Nominal stability of real-time iteration scheme for nonlinear model predictive control},
+ author={Diehl, Moritz and Findeisen, Rolf and Allg{\"o}wer, Frank and Bock, Hans Georg and Schl{\"o}der, Johannes P},
+ journal={IEE Proceedings-Control Theory and Applications},
+ volume={152},
+ number={3},
+ pages={296--308},
+ year={2005},
+ publisher={IET},
+ url={http://ieeexplore.ieee.org/document/1454212/}
+}
+@article{diehl2003efficient,
+ title={An efficient algorithm for nonlinear model predictive control of large-scale systems. Part II: Experimental evaluation for a distillation column},
+ author={DIEHL, Moritz and FINDEISEN, Rolf and SCHWARZKOPF, Stefan and USLU, Ilknur and ALLG{\"O}WER, Frank and BOCK, Hans Georg and GILLES, Ernst Dieter and SCHL{\"O}DER, Johannes P},
+ journal={Automatisierungstechnik},
+ volume={51},
+ number={1},
+ pages={22--29},
+ year={2003},
+ publisher={Oldenbourg},
+ url={https://www.researchgate.net/publication/237458896_An_Efficient_Algorithm_for_Nonlinear_Model_Predictive_Control_of_Large-Scale_Systems_Part_II_Experimental_Evaluation_for_a_Distillation_Column_Ein_effizienter_Algorithmus_fur_die_nichtlineare_pradikti}
+}
+@article{mayne1966ddp,
+ title={A second-order gradient method for determining optimal trajectories of non-linear discrete-time systems},
+ author={Mayne, David},
+ journal={International Journal of Control},
+ volume={3},
+ number={1},
+ pages={85--95},
+ year={1966},
+ publisher={Taylor \& Francis},
+ url={http://www.tandfonline.com/doi/abs/10.1080/00207176608921369}
+}
+@incollection{diehl2006fast,
+ title={Fast direct multiple shooting algorithms for optimal robot control},
+ author={Diehl, Moritz and Bock, Hans Georg and Diedam, Holger and Wieber, P-B},
+ booktitle={Fast motions in biomechanics and robotics},
+ pages={65--93},
+ year={2006},
+ publisher={Springer},
+ url={https://hal.inria.fr/inria-00390435}
+}
+@inproceedings{todorov2005ilqg,
+ title={A generalized iterative {LQG} method for locally-optimal feedback control of constrained nonlinear stochastic systems},
+ author={Todorov, Emanuel and Li, Weiwei},
+ booktitle={American Control Conference, 2005. Proceedings of the 2005},
+ pages={300--306},
+ year={2005},
+ organization={IEEE},
+ url={http://ieeexplore.ieee.org/document/1469949/}
+}
+@inproceedings{giftthaler2017efficient,
+ title={{Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control}},
+ author={Giftthaler, Markus and Farshidian, Farbod and Sandy, Timothy and Stadelmann, Lukas and Buchli, Jonas},
+ booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
+ year={2017},
+ url={https://arxiv.org/abs/1701.08051}
+}
+@misc{giftthaler2017autodiff,
+ author = "Markus Giftthaler and Michael Neunert and Markus St{\"a}uble and Marco Frigerio and Claudio Semini and Jonas Buchli",
+ title = {{Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation}},
+ howpublished = "Advanced Robotics",
+ month = "November",
+ year = {2017},
+ url = {https://arxiv.org/abs/1709.03799},
+ }
+@phdthesis{frisonalgorithms,
+ title={Algorithms and Methods for Fast Model Predictive Control},
+ author={Frison, Gianluca},
+ school={Technical University of Denmark},
+ year = {2015}
+}
+@misc{neunert2017mpc,
+ title = {{Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds}},
+ author = {Michael Neunert and Markus St{\"a}uble and Markus Giftthaler and Carmine D. Bellicoso and Jan Carius and Christian Gehring and Marco Hutter and Jonas Buchli},
+ note = {To appear in {IEEE Robotics and Automation Letters}},
+ year = "2017",
+ url = {https://arxiv.org/abs/1712.02889}
+}
+@misc{giftthaler2017family,
+author={Giftthaler, Markus and Neunert, Michael and St{\"a}uble, Markus and Buchli, Jonas and Diehl, Moritz},
+title={{A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control}},
+howpublished = {{arXiv:1711.11006 [cs.SY]}},
+year = {2017},
+url = {https://arxiv.org/abs/1711.11006}
+}
+
+}