| @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} |
| } |
| |
| } |