mlsanityData to 14 Oct 2026

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

arXiv 1910.13753 ↗First posted 30 Oct 2019math.OCcited by 68

Not on the map. Why?

Abstract (arXiv)

This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level languages make it useful for quickly designing an optimization-based control algorithm by putting together different algorithmic components that can be readily connected and interchanged. Since the core of acados is written on top of a high-performance linear algebra library, we do not sacrifice computational performance. Thus, we aim to provide both flexibility and performance through modularity, without the need to rely on automatic code generation, which facilitates maintainability and extensibility. The main features of acados are: efficient optimal control algorithms targeting embedded devices implemented in C, linear algebra based on the high-performance BLASFEO library, user-friendly interfaces to Matlab and Python, and compatibility with the modeling language of CasADi. acados is free and open-source software released under the permissive BSD 2-Clause license.

Key facts. Cited by 68 papers in the map (data through 14 Oct 2026). First posted on arXiv 30 Oct 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 5; 2023: 9; 2024: 11; 2025: 23; 2026: 20.

68 papers.

Sort:

By area:

  1. 2022Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platformscited by 41
  2. 2025Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classificationcited by 26
  3. 2024Safety Filtering While Training: Improving the Performance and Sample Efficiency of Reinforcement Learning Agentscited by 17
  4. 2024SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuumcited by 16
  5. 2023Learning for CasADi: Data-driven Models in Numerical Optimizationcited by 15
  6. 2022Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Controlcited by 13
  7. 2025SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictionscited by 11
  8. 2025UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policiescited by 11
  9. 2023Approximate non-linear model predictive control with safety-augmented neural networkscited by 9
  10. 2024Safe Guaranteed Exploration for Non-linear Systemscited by 8
  11. 2024Parameter-Adaptive Approximate MPC: Tuning Neural-Network Controllers without Retrainingcited by 7
  12. 2026Safety Beyond the Training Data: Robust Out-of-Distribution MPC via Conformalized System Level Synthesiscited by 7
38 more
  1. 2026π, But Make It Fly: Physics-Guided Transfer of VLA Models to Aerial Manipulationcited by 7
  2. 2023Adaptive Stochastic Nonlinear Model Predictive Control with Look-ahead Deep Reinforcement Learning for Autonomous Vehicle Motion Controlcited by 6
  3. 2024AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Controlcited by 6
  4. 2024Towards safe and tractable Gaussian process-based MPC: Efficient sampling within a sequential quadratic programming frameworkcited by 6
  5. 2025Differentiable Nonlinear Model Predictive Controlcited by 6
  6. 2025SINGER: An Onboard Generalist Vision-Language Navigation Policy for Dronescited by 6
  7. 2022Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Controlcited by 5
  8. 2023Imitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximationcited by 5
  9. 2025Finite-Sample-Based Reachability for Safe Control with Gaussian Process Dynamicscited by 5
  10. 2022Zero-Order Optimization for Gaussian Process-based Model Predictive Controlcited by 4
  11. 2023RLtools: A Fast, Portable Deep Reinforcement Learning Library for Continuous Controlcited by 4
  12. 2023Neural Potential Field for Obstacle-Aware Local Motion Planningcited by 4
  13. 2022Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robotscited by 3
  14. 2023Introducing a Deep Neural Network-based Model Predictive Control Framework for Rapid Controller Implementationcited by 3
  15. 2025Drive Fast, Learn Faster: On-Board RL for High Performance Autonomous Racingcited by 3
  16. 2026VISION-SLS: Safe Perception-Based Control from Learned Visual Representations via System Level Synthesiscited by 3
  17. 2024Flying Quadrotors in Tight Formations using Learning-based Model Predictive Controlcited by 2
  18. 2025MPC4RL -- A Software Package for Reinforcement Learning based on Model Predictive Controlcited by 2
  19. 2025Context-Aware Deep Lagrangian Networks for Model Predictive Controlcited by 2
  20. 2025Zero-Shot Transferable Solution Method for Parametric Optimal Control Problemscited by 2
  21. 2026TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPUcited by 2
  22. 2023Modular Control Architecture for Safe Marine Navigation: Reinforcement Learning and Predictive Safety Filterscited by 1
  23. 2024Reinforcement Learning Compensated Model Predictive Control for Off-road Driving on Unknown Deformable Terraincited by 1
  24. 2025On learning racing policies with reinforcement learningcited by 1
  25. 2025Online Adaptation for Flying Quadrotors in Tight Formationscited by 1
  26. 2025NOVA: Navigation via Object-Centric Visual Autonomy for High-Speed Target Tracking in Unstructured GPS-Denied Environmentscited by 1
  27. 2025Learning Agile Gate Traversal via Analytical Optimal Policy Gradientcited by 1
  28. 2025Safe and Near-Optimal Control with Online Dynamics Learningcited by 1
  29. 2026Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAXcited by 1
  30. 2026Dual Process Motion Planningcited by 1
  31. 2023Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentationcited by 0
  32. 2024Real-time, accurate, and open source upper-limb musculoskeletal analysis using a single RGBD cameracited by 0
  33. 2024Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPCcited by 0
  34. 2024Dynamic Neural Potential Field: Online Trajectory Optimization in the Presence of Moving Obstaclescited by 0
  35. 2025Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamicscited by 0
  36. 2025Hybrid Reinforcement Learning and Model Predictive Control for Adaptive Control of Hydrogen-Diesel Dual-Fuel Combustioncited by 0
  37. 2025A robust and adaptive MPC formulation for Gaussian process modelscited by 0
  38. 2025Bayesian Optimization applied for accelerated Virtual Validation of the Autonomous Driving Functioncited by 0

50 most cited of 68 All 68 (JSON)