All you need to know about model predictive control for buildings
It has been proven that advanced building control, like model predictive control (MPC), can
notably reduce the energy use and mitigate greenhouse gas emissions. However, despite …
notably reduce the energy use and mitigate greenhouse gas emissions. However, despite …
Convex optimization for trajectory generation: A tutorial on generating dynamically feasible trajectories reliably and efficiently
Reliable and efficient trajectory generation methods are a fundamental need for
autonomous dynamical systems. The goal of this article is to provide a comprehensive …
autonomous dynamical systems. The goal of this article is to provide a comprehensive …
Robust training under label noise by over-parameterization
Recently, over-parameterized deep networks, with increasingly more network parameters
than training samples, have dominated the performances of modern machine learning …
than training samples, have dominated the performances of modern machine learning …
Differentiable convex optimization layers
Recent work has shown how to embed differentiable optimization problems (that is,
problems whose solutions can be backpropagated through) as layers within deep learning …
problems whose solutions can be backpropagated through) as layers within deep learning …
Solving mixed integer programs using neural networks
Mixed Integer Programming (MIP) solvers rely on an array of sophisticated heuristics
developed with decades of research to solve large-scale MIP instances encountered in …
developed with decades of research to solve large-scale MIP instances encountered in …
Dynamic locomotion in the mit cheetah 3 through convex model-predictive control
This paper presents an implementation of model predictive control (MPC) to determine
ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are …
ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are …
A rewriting system for convex optimization problems
We describe a modular rewriting system for translating optimization problems written in a
domain-specific language (DSL) to forms compatible with low-level solver interfaces …
domain-specific language (DSL) to forms compatible with low-level solver interfaces …
OSQP: An operator splitting solver for quadratic programs
We present a general-purpose solver for convex quadratic programs based on the
alternating direction method of multipliers, employing a novel operator splitting technique …
alternating direction method of multipliers, employing a novel operator splitting technique …
acados—a modular open-source framework for fast embedded optimal control
This paper presents the acados software package, a collection of solvers for fast embedded
optimization intended for fast embedded applications. Its interfaces to higher-level …
optimization intended for fast embedded applications. Its interfaces to higher-level …
On the total energy efficiency of cell-free massive MIMO
We consider the cell-free massive multiple-input multiple-output (MIMO) downlink, where a
very large number of distributed multiple-antenna access points (APs) serve many single …
very large number of distributed multiple-antenna access points (APs) serve many single …