We provide an overview of a class of iterative convex approximation methods for nonlinear
optimization problems with convex-over-nonlinear substructure. These problems are …

The tunnel-following nonlinear model predictive control (NMPC) scheme allows to exploit
acceptable deviations around a path reference. This is done by using convex-over-nonlinear …

In the context of nonlinear model predictive control (NMPC) for robot manipulators, we
address the problem of enabling the mixed and transparent use of algorithmic differentiation …

We consider a stage-varying nonlinear model predictive control (NMPC) formulation and
provide a stability result for the corresponding closed-loop system under the assumption that …

This article addresses the obstacle avoidance problem for setpoint stabilization tasks in
complex dynamic 2-D environments that go beyond conventional scenes with isolated …

This paper introduces the quadratically-constrained quadratic programming (QCQP)
framework recently added in HPIPM alongside the original quadratic-programming (QP) …

This paper proposes a motion control scheme for robots operating in a dynamic environment
with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the …

The tunnel-following nonlinear model predictive control (NMPC) scheme for robot
manipulators allows the definition of tasks where deviations from a given path reference are …

The repetitive evaluation of computationally expensive functions in the objective and
constraints represents a bottleneck in the solution of the underlying optimal control problem …

Differential drive mobile robots often use one or more caster wheels for balance. Caster
wheels are appreciated for their ability to turn in any direction almost on the spot, allowing …