Composite optimization offers a powerful modeling tool for a variety of applications and is
often numerically solved by means of proximal gradient methods. In this paper, we consider …

We consider the problem of interaction-aware motion planning for automated vehicles in
general traffic situations. We model the interaction between the controlled vehicle and …

In order to improve the real-time performance of the trajectory tracking of autonomous
vehicles, this paper applies the alternating direction multiplier method (ADMM) to the …

Urban driving is a challenging task that requires autonomous agents to account for the
stochastic dynamics and interactions with other vehicles. In this paper, we propose a novel …

This letter presents PANTR, an efficient solver for nonconvex constrained optimization
problems, that is well-suited as an inner solver for an augmented Lagrangian method. The …

In this paper, we present a new control model for optimizing pressure and water quality
operations in water distribution networks. Our formulation imposes a set of time-coupling …

Steering a nonlinear system from an initial state to a desired one is a common task in
control. While a nominal trajectory can be obtained rather systematically using a model, for …

We introduce SPIRAL, a SuPerlinearly convergent Incremental pRoximal ALgorithm, for
solving nonconvex regularized finite sum problems under a relative smoothness …

PANOC is an algorithm for nonconvex optimization that has recently gained popularity in
real-time control applications due to its fast, global convergence. The present work proposes …

A popular nonlinear system in several fields, including as robotics, aircraft, and shipping, is
the rotating inverted pendulum. In this work, an optimized Non-linear Model Predictive …