acados#
Fast and embedded solvers for nonlinear optimal control.
acadossource code is hosted on Github. Contributions via pull requests are welcome!acadoshas a discourse based forum.acadosis mainly developed by the syscop group around Prof. Moritz Diehl, the Systems Control and Optimization Laboratory, at the University of Freiburg.
About acados#
acados is a software package providing fast and embedded solvers for nonlinear optimal control.
Problems can be conveniently formulated using the CasADi symbolic framework and the high-level acados interfaces.
acados provides a collection of computationally efficient building blocks tailored to optimal control structured problems, most prominently optimal control problems (OCP) and moving horizon estimation (MHE) problems.
Among others, acados implements:
modules for the integration of ordinary differential equations (ODE) and differential-algebraic equations (DAE),
interfaces to state-of-the-art QP solvers like
HPIPM,qpOASES,DAQPandOSQP(partial) condensing routines, provided by
HPIPMnonlinear programming solvers for optimal control structured problems
real-time algorithms, such as the real-time iteration (RTI) and advanced-step real-time iteration (AS-RTI) algorithms
The back-end of acados uses the high-performance linear algebra package BLASFEO, in order to boost computational efficiency for small to medium scale matrices typical of embedded optimization applications.
MATLAB, Octave and Python interfaces can be used to conveniently describe optimal control problems and generate self-contained C code that can be readily deployed on embedded platforms.
Documentation page overview#
Documentation latest build: Mar 25, 2025