Control-Box RST

Status

ROS package:

• ROS Melodic (melodic-devel):

Documentation

Build and installation instructions as well as further documentation are provided in the project wiki.

Authors

• Christoph Rösmann christoph.roesmann@tu-dortmund.de
• Maximilian Krämer maximilian.kraemer@tu-dortmund.de

Citing the Software

Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the software for published work.

Standard MPC and Hypergraph

• C. Rösmann, M. Krämer, A. Makarow, F. Hoffmann und T. Bertram: Exploiting Sparse Structures in Nonlinear Model Predictive Control with Hypergraphs, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), New Zealand, July 2018.

Time-Optimal MPC and Hypergraph

• C. Rösmann: Time-optimal nonlinear model predictive control, Direct transcription methods with variable discretization and structural sparsity exploitation. Dissertation, Technische Universität Dortmund, Oct. 2019.

Uniform Grid Time-Optimal MPC

• C. Rösmann, F. Hoffmann und T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, European Control Conference (ECC), Austria, July 2015.
• C. Rösmann, F. Hoffman und T. Bertram: Convergence Analysis of Time-Optimal Model Predictive Control under Limited Computational Resources, European Control Conference (ECC), Denmark, June 2016.

Non-Uniform Grid Time-Optimal MPC

• C. Rösmann, A. Makarow, F. Hoffmann und T. Bertram: Sparse Shooting at Adaptive Temporal Resolution for Time-Optimal Model Predictive Control, IEEE Conference on Decision and Control (CDC), Australia, December 2017.
• C. Rösmann, A. Makarow, F. Hoffmann und T. Bertram: Time-Optimal Nonlinear Model Predictive Control with Minimal Control Interventions, IEEE Conference on Control Technology and Applications (CCTA), Hawai’i, August 2017.

License

Copyright (c) 2020, TU Dortmund - Institute of Control Theory and Systems Engineering. All rights reserved.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see https://www.gnu.org/licenses/.

Some third-party dependencies are included that are licensed under different terms:

• Eigen, MPL2 license, http://eigen.tuxfamily.org

Optional included third-party dependencies (selected during configuration)

• gRPC, Apache License 2.0, https://grpc.io
• protobuf, in parts BSD, https://developers.google.com/protocol-buffers
• qcustomplot, GPLv3, https://www.qcustomplot.com
• googletest, BSD-3-Clause, https://github.com/google/googletest
• yaml-cpp, MIT License, https://github.com/jbeder/yaml-cpp

Optional third-party dependencies (optional linking)

• Ipopt, EPL 1.0, https://github.com/coin-or/Ipopt
• OSQP, Apache 2.0, https://osqp.org/
• Qt, different licensing options available, https://www.qt.io/

Changelog for package control_box_rst

0.0.7 (2020-06-05)

• Fixed issue: Wrong sparse Jacobian pattern in solver LM
• Stage functions: added dedicated method for state and time dependency
• Lsq form added to hybrid cost functions
• Added missing header for eigenvalue computation
• Contributors: Christoph Rösmann

0.0.6 (2020-05-24)

• Hybrid cost functions added: Minimum time and control/state quadratic form
• Discretization grids: The time difference is now initialized to dt_ref for proper reference caching
• Contributors: Christoph Rösmann

0.0.5 (2020-05-13)

• Changed minimum CMake version to 3.1
• Add default parameter to SolverIpopt::initialize() in case Ipopt is not found..
• Removed obsolete gmock include
• Fix setLastControlRef and graph consistency.
• Internal libgtest target renamed. Fixed compilation issue for yaml-cpp test
• Contributors: Christoph Rösmann, Maximilian Krämer

0.0.4 (2020-02-21)

• Removed exec_depend on catkin to allow the use of the same release for ros1 and ros2
• Contributors: Christoph Rösmann

0.0.3 (2020-02-21)

• Changed build_type to cmake in package.xml according to REP-136
• Set some optional findPackage cmake scripts to quiet
• Contributors: Christoph Rösmann

0.0.2 (2020-02-19)

• Changed ros dependency from eigen3 to eigen
• Contributors: Christoph Rösmann

0.0.1 (2020-02-19)

• First release
• Contributors: Christoph Rösmann