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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN"
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<title>Panos Patrinos — Research</title>
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<body>
<table summary="Table for page layout." id="tlayout">
<tr valign="top">
<td id="layout-menu">
<div class="menu-category">Menu</div>
<div class="menu-item"><a href="index.html">Home</a></div>
<div class="menu-item"><a href="research.html" class="current">Research</a></div>
<div class="menu-item"><a href="publications.html">Publications</a></div>
<div class="menu-item"><a href="teaching.html">Teaching</a></div>
<div class="menu-item"><a href="people.html">People</a></div>
<div class="menu-item"><a href="projects.html">Research projects</a></div>
<div class="menu-category">Software</div>
<div class="menu-item"><a href="https://github.com/JuliaFirstOrder/StructuredOptimization.jl">StructuredOptimization.jl</a></div>
<div class="menu-item"><a href="https://github.com/JuliaFirstOrder/ProximalOperators.jl">ProximalOperators.jl</a></div>
<div class="menu-item"><a href="https://github.com/JuliaFirstOrder/ProximalAlgorithms.jl">ProximalAlgorithms.jl</a></div>
<div class="menu-item"><a href="https://alphaville.github.io/optimization-engine/">OpEn</a></div>
<div class="menu-item"><a href="https://github.com/kul-optec/superscs">SuperSCS</a></div>
<div class="menu-item"><a href="https://github.com/Benny44/QPALM_vLADEL">QPALM</a></div>
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<h1>Panos Patrinos — Research</h1>
<div id="subtitle"><a href="https://www.esat.kuleuven.be/english/overview">Department of Electrical Engineering (ESAT)</a>, <a href="https://www.kuleuven.be/english/">KU Leuven</a></div>
</div>
<h3>SuperSCS</h3>
<p>SuperSCS is a fast solver for conic problems</p>
<h3>Embedded nonlinear model predictive control</h3>
<p>This is a C implementation of PANOC, a Proximal Averaged Newton-type method for Optimal Control.</p>
<p>PANOC is a fast solver for nonlinear optimal control problems which arise in nonlinear model predictive control (NMPC) and other applications.</p>
<p>Features of the method:</p>
<ul>
<li><p>Very fast convergence, sub-millisecond-fast MPC</p>
</li>
<li><p>Low memory requirements</p>
</li>
<li><p>Suitable for embedded applications</p>
</li>
<li><p>Global convergence properties</p>
</li>
<li><p>Not sensitive to ill conditioning</p>
</li>
<li><p>Unlike SQP, does not a quadratic programming (QP) solver</p>
</li>
</ul>
<p>Features of the implementation:</p>
<ul>
<li><p>Dependency-free C implementation (no libraries, C89 standard)</p>
</li>
<li><p>Very easy to install</p>
</li>
<li><p>Controller design in MATLAB, implementation in C (powered by <a href="https://github.com/casadi/casadi/wiki">CasADi</a>)</p>
</li>
<li><p>Unit-tested (very high <a href="https://codecov.io/gh/kul-forbes/EmbeddedMPC">coverage</a>)</p>
</li>
<li><p>Memory-leak-free (checked with <a href="http://valgrind.org/">valgrind</a>)</p>
</li>
<li><p>Detailed documentation</p>
</li>
<li><p>MEX interface for testing/simulation purposes</p>
</li>
</ul>
<p>PANOC comes with a MATLAB toolbox that allows the design of obstacle avoidance controllers based on nonlinear model predictive control while it produces C code (following the C89 standard) which can be used on embedded devices.</p>
<table class="imgtable"><tr><td>
<a href="https://kul-forbes.github.io/PANOC/pics/navigation-01.png"><img src="https://kul-forbes.github.io/PANOC/pics/navigation-01.png" alt="Obstacle Avoidance using PANOC" width="599px" height="469px" /></a> </td>
<td align="left"></td></tr></table>
<p><video width="590" controls>
<source src="https://kul-forbes.github.io/PANOC/pics/navigation-v0.1-001.mp4" type="video/mp4">
Your browser does not support the video tag.
</video></p>
<p>See more obstacle avoidance examples here.</p>
<p>Please, cite PANOC as follows:</p>
<ol>
<li><p>L. Stella, A. Themelis, P. Sopasakis and P. Patrinos, A Simple and Efficient Algorithm for Nonlinear Model Predictive Control, IEEE CDC 2017, Melbourne, Australia, Dec 2017.</p>
</li>
<li><p>A. Sathya, P. Sopasakis, A. Themelis, R. Van Parys, G. Pipeleers and P. Patrinos, Embedded nonlinear model predictive control for obstacle avoidance using PANOC, submitted to ECC 2018.</p>
</li>
</ol>
</td>
</tr>
</table>
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