Learning for CasADi: Data-driven Models in Numerical Optimization

1 code implementation • 10 Dec 2023 • Tim Salzmann, Jon Arrizabalaga, Joel Andersson, Marco Pavone, Markus Ryll

While real-world problems are often challenging to analyze analytically, deep learning excels in modeling complex processes from data.

Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms

2 code implementations • 15 Mar 2022 • Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, Marco Pavone, Davide Scaramuzza, Markus Ryll

Our experiments, performed in simulation and the real world onboard a highly agile quadrotor platform, demonstrate the capabilities of the described system to run learned models with, previously infeasible, large modeling capacity using gradient-based online optimization MPC.

Model Predictive Control