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==Panos Patrinos---Research
[https://www.esat.kuleuven.be/english/overview Department of Electrical Engineering (ESAT)], [https://www.kuleuven.be/english/ KU Leuven]

=== SuperSCS

SuperSCS is a fast solver for conic problems

=== Embedded nonlinear model predictive control

This is a C implementation of PANOC, a Proximal Averaged Newton-type method for Optimal Control.

PANOC is a fast solver for nonlinear optimal control problems which arise in nonlinear model predictive control (NMPC) and other applications.

Features of the method:

- Very fast convergence, sub-millisecond-fast MPC
- Low memory requirements
- Suitable for embedded applications
- Global convergence properties
- Not sensitive to ill conditioning
- Unlike SQP, does not a quadratic programming (QP) solver

Features of the implementation:

- Dependency-free C implementation (no libraries, C89 standard)
- Very easy to install
- Controller design in MATLAB, implementation in C (powered by [https://github.com/casadi/casadi/wiki CasADi])
- Unit-tested (very high [https://codecov.io/gh/kul-forbes/EmbeddedMPC coverage])
- Memory-leak-free (checked with [http://valgrind.org/ valgrind])
- Detailed documentation
- MEX interface for testing/simulation purposes

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.

~~~
{}{img_left}{https://kul-forbes.github.io/PANOC/pics/navigation-01.png}{Obstacle Avoidance using PANOC}{599}{469}{https://kul-forbes.github.io/PANOC/pics/navigation-01.png}
~~~

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  <source src="https://kul-forbes.github.io/PANOC/pics/navigation-v0.1-001.mp4" type="video/mp4">
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</video>}}


See more obstacle avoidance examples here.

Please, cite PANOC as follows:

. 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.
. 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.