Draft:Acados
Submission declined on 5 June 2025 by Caleb Stanford (talk).
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Submission declined on 10 May 2025 by Caleb Stanford (talk). This draft reads like an advertisement. Wikipedia is an encyclopedia, not a platform for promotion or marketing. Drafts that are exclusively promotional may be deleted without notice.
Declined by Caleb Stanford 17 months ago.Wikipedia articles must be written neutrally in a formal, impersonal, and dispassionate way. They should not read like a blog post, advertisement, or fan page. Rewrite the draft to remove:
Instead, only summarize in your own words a range of independent, reliable, published sources that discuss the subject. If you have a conflict of interest (e.g. you are the subject, an employee, or a relative) or are being paid to edit, you must disclose this to comply with Wikipedia's Terms of Use. | |
Submission declined on 5 May 2025 by AllCatsAreGrey (talk). This draft's references do not show that the subject meets Wikipedia's criteria for inclusion. The draft requires multiple published secondary sources that:
Declined by AllCatsAreGrey 17 months ago.
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Comment: Article is of a poor quality and does not provide context to a general audience. Please consider and solicit independent feedback as to whether the topic is notable prior to resubmitting. Caleb Stanford (talk) 01:58, 5 June 2025 (UTC)
| acados | |
|---|---|
| Developer | Systems Control and Optimization Laboratory (research team of Prof. Moritz Diehl at the University of Freiburg) |
| Release | August 27, 2019 |
| Stable release | |
| Written in | C with interfaces to Python, GNU Octave, MATLAB, Simulink |
| Operating system | Linux, Windows and macOS |
| Type | Nonlinear optimal control and mathematical optimization |
| License | 2-clause BSD license (free software) |
| Website | docs |
acados is a free and open source software framework for nonlinear model predictive control and moving horizon estimation[2][3][4]. It implements the sequential quadratic programming method, and it relies on existing open-source solvers to solve the underlying quadratic programs, like HPIPM (Q134395572) or qpOASES (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 ACADO Toolkit (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 range of different embedded control applications like wheeled vehicles[5], autonomous drones[6][7][8], autonomous water taxis[9], legged locomotion[10], electric motor[11] and wind turbine control[12]. A notable use in industry is by the semi-automated driving startup comma.ai which uses acados inside its product openpilot.[13]
See also
[edit]References
[edit]- ↑ "Release 0.6.0". 6 August 2026. Retrieved 7 August 2026.
- ↑ Robin Verschueren; Gianluca Frison; Dimitris Kouzoupis; et al. (2021). "acados—a modular open-source framework for fast embedded optimal control". Mathematical Programming Computation. 14 (1): 147–183. arXiv:1910.13753. doi:10.1007/s12532-021-00208-8. Wikidata Q115144371.
{{Cite Q}}: Missing first/last names in Wikidata for Robin Verschueren, Gianluca Frison, Dimitris Kouzoupis (help) - ↑ Johannes Köhler; Matthias A. Müller; Allgöwer, Frank (2024). "Analysis and design of model predictive control frameworks for dynamic operation—An overview". Annual Reviews in Control. 57 100929. doi:10.1016/j.arcontrol.2023.100929. Wikidata Q134301032.
{{Cite Q}}: Missing first/last names in Wikidata for Johannes Köhler, Matthias A. Müller (help) - ↑ Maximilian Schaller; Goran Banjac; Steven Diamond; Akshay Agrawal; Bartolomeo Stellato; Stephen Boyd (2022). "Embedded Code Generation With CVXPY" (PDF). IEEE Control Systems Letters. 6: 2653–2658. doi:10.1109/lcsys.2022.3173209. Wikidata Q120716403.
{{Cite Q}}: Missing first/last names in Wikidata for Maximilian Schaller, Goran Banjac
, Steven Diamond, Akshay Agrawal, Bartolomeo Stellato , Stephen Boyd (help) - ↑ P. Stano; U. Montanaro; D. Tavernini; M. Tufo; G. Fiengo; L. Novella; A. Sorniotti (2022). "Model predictive path tracking control for automated road vehicles: A review". Annual Reviews in Control. 55: 194–236. doi:10.1016/j.arcontrol.2022.11.001. Wikidata Q134445601.
{{Cite Q}}: Missing first/last names in Wikidata for P. Stano, U. Montanaro, D. Tavernini, M. Tufo, G. Fiengo, L. Novella, A. Sorniotti (help) - ↑ Angel Romero; Robert Penicka; Davide Scaramuzza (2022). "Time-Optimal Online Replanning for Agile Quadrotor Flight". IEEE Robotics and Automation Letters. doi:10.1109/lra.2022.3185772. Wikidata Q134433262.
{{Cite Q}}: Missing first/last names in Wikidata for Angel Romero, Robert Penicka, Davide Scaramuzza (help) - ↑ Tim Salzmann; Elia Kaufmann; Jon Arrizabalaga; Marco Pavone; Davide Scaramuzza; Markus Ryll (2023). "Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms" (PDF). IEEE Robotics and Automation Letters. doi:10.1109/lra.2023.3246839. Wikidata Q134433254.
{{Cite Q}}: Missing first/last names in Wikidata for Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, Marco Pavone, Davide Scaramuzza, Markus Ryll (help) - ↑ Edison Velasco-Sánchez; Luis F. Recalde; Bryan S. Guevara; José Varela-Aldás; Francisco A. Candelas; Santiago T. Puente; Daniel C. Gandolfo (2024). "Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection". IEEE Robotics and Automation Letters. 9 (3): 2766–2773. arXiv:2311.08019. doi:10.1109/lra.2024.3360876. Wikidata Q128964934.
{{Cite Q}}: Missing first/last names in Wikidata for Edison Velasco-Sánchez, Luis F. Recalde, Bryan S. Guevara, José Varela-Aldás, Francisco A. Candelas, Santiago T. Puente, Daniel C. Gandolfo (help) - ↑ Hannes Homburger; Stefan Wirtensohn; Patrick Hoher; Tim Baur; Dennis Griesser; Moritz Diehl; Johannes Reuter (2025). "Solgenia—A test vessel toward energy-efficient autonomous water taxi applications". Ocean Engineering (in French). 328 121011. doi:10.1016/j.oceaneng.2025.121011. Wikidata Q134445571.
{{Cite Q}}: Missing first/last names in Wikidata for Hannes Homburger, Stefan Wirtensohn, Patrick Hoher, Tim Baur, Dennis Griesser, Moritz Diehl, Johannes Reuter (help) - ↑ Niraj Rathod; Angelo Bratta; Michele Focchi; Zanon, Mario; Octavio Villarreal; Semini, Claudio; Bemporad, Alberto (2021). "Model Predictive Control With Environment Adaptation for Legged Locomotion". IEEE Access. 9: 145710–145727. doi:10.1109/access.2021.3118957. Wikidata Q134445583.
{{Cite Q}}: Missing first/last names in Wikidata for Niraj Rathod, Angelo Bratta, Michele Focchi, Octavio Villarreal (help) - ↑ Andrea Zanelli; Julian Kullick; Hisham M. Eldeeb; Gianluca Frison; Christoph M. Hackl; Moritz Diehl (2021). "Continuous Control Set Nonlinear Model Predictive Control of Reluctance Synchronous Machines". IEEE Transactions on Control Systems Technology. doi:10.1109/tcst.2020.3043956. Wikidata Q134433264.
{{Cite Q}}: Missing first/last names in Wikidata for Andrea Zanelli, Julian Kullick, Hisham M. Eldeeb, Gianluca Frison, Christoph M. Hackl, Moritz Diehl (help) - ↑ Stefan Loew; Carlo L Bottasso (2022). "Lidar-assisted model predictive control of wind turbine fatigue via online rainflow counting considering stress history". Wind Energy Science. 7 (4): 1605–1625. doi:10.5194/wes-7-1605-2022. Wikidata Q114571268.
{{Cite Q}}: Missing first/last names in Wikidata for Stefan Loew, Carlo L Bottasso (help) - ↑ "Openpilot0.8.10". November 2021.
Wikipedia articles must be written neutrally in a formal, impersonal, and dispassionate way. They should not read like a blog post, advertisement, or fan page. Rewrite the draft to remove:
Instead, only summarize in your own words a range of independent, reliable, published sources that discuss the subject.
If you have a conflict of interest (e.g. you are the subject, an employee, or a relative) or are being paid to edit, you must disclose this to comply with Wikipedia's Terms of Use.