acados: a modular open-source framework for fast embedded optimal\n control

Abstract

This paper presents the acados software package, a collection of solvers for\nfast embedded optimization intended for fast embedded applications. Its\ninterfaces to higher-level languages make it useful for quickly designing an\noptimization-based control algorithm by putting together different algorithmic\ncomponents that can be readily connected and interchanged. Since the core of\nacados is written on top of a high-performance linear algebra library, we do\nnot sacrifice computational performance. Thus, we aim to provide both\nflexibility and performance through modularity, without the need to rely on\nautomatic code generation, which facilitates maintainability and extensibility.\nThe main features of acados are: efficient optimal control algorithms targeting\nembedded devices implemented in C, linear algebra based on the high-performance\nBLASFEO library, user-friendly interfaces to Matlab and Python, and\ncompatibility with the modeling language of CasADi. acados is free and\nopen-source software released under the permissive BSD 2-Clause license.\n