Acados
| Developer(s) | Systems Control and Optimization Laboratory (research team of Prof. Moritz Diehl at the University of Freiburg) |
|---|---|
| Initial release | August 27, 2019 |
| Stable release | Lua error in Module:Wd at line 2189: attempt to index field 'wikibase' (a nil value).
/ Lua error in Module:Wd at line 2189: attempt to index field 'wikibase' (a nil value). |
| Written in | C with interfaces to Python, GNU Octave, MATLAB, Simulink |
| Engine | |
| Operating system | Linux, Windows and macOS |
| Type | Nonlinear optimal control and mathematical optimization |
| License | 2-clause BSD license (free software) |
| Website | docs |
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acados is a free and open source software framework for nonlinear model predictive control and moving horizon estimation.[1][2][3]. It implements the sequential quadratic programming method, and it relies on existing open-source solvers to solve the underlying quadratic programs, like Lua error in Module:Wikibase at line 40: attempt to index field 'wikibase' (a nil value). (Q134395572) or Lua error in Module:Wikibase at line 40: attempt to index field 'wikibase' (a nil value). (Q134395611). It uses CasADi symbolic framework to define the problem equations and to compute their derivatives through automatic differentiation. The library acados and its dependencies are designed to target problems arising in optimal control and trajectory optimization which have a specific structure. The software can be used directly from C or from its higher-level interface where the user can define the problem in Python or Matlab and an equivalent problem specification in C is automatically generated via a Template processor. It was influenced by Lua error in Module:Wikibase at line 40: attempt to index field 'wikibase' (a nil value). (Q134452070), from which the name is inspired. While ACADO is a code-generation tool, acados uses code-generation only for derivatives and interfaces and is thus optional.
There are records of its adoption mostly in academia. It has been used on a range of different embedded control applications like wheeled vehicles[4], autonomous drones[5][6][7], autonomous water taxis[8], legged locomotion[9], electric motor[10] and wind turbine [11]. A notable use in industry is by the semi-automated driving startup comma.ai which uses acados inside its product openpilot.[12]
See also
References
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q115144371
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134301032
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q120716403
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134445601
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134433262
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134433254
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q128964934
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134445571
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134445583
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q134433264
- ↑ Lua error in Module:Citeq at line 53: attempt to index field 'wikibase' (a nil value)., Wikidata Q114571268
- ↑ "Openpilot0.8.10". November 2021.
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