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Copyright

qpOASES -- An Implementation of the Online Active Set Strategy.
Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, Christian Kirches et al. All rights reserved.

qpOASES is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

qpOASES is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with qpOASES; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

 

Authors and Contributors

qpOASES's core functionality and software design have been developed by the following main developers (in alphabetical order):

• Hans Joachim Ferreau
• Christian Kirches
• Andreas Potschka

Moreover, the following developers have contributed code to qpOASES's third-party interfaces (in alphabetical order):

• Alexander Buchner
• Holger Diedam
• Manuel Kudruss
• Sebastian F. Walter

Finally, the following people have not contributed to the source code, but have helped making qpOASES even more useful by testing, reporting bugs or proposing algorithmic improvements (in alphabetical order):

• Eckhard Arnold
• Boris Houska
• D. Kwame Minde Kufoalor
• Aude Perrin
• Milan Vukov
• Thomas Wiese
• Leonard Wirsching

We also would like to thank two persons who had a major share in making qpOASES a success. Not by writing even a single line of code, but by establishing the idea of using a homotopy-based approach for high-speed QP solutions and by excellent scientific guidance during the development process:

• Hans Georg Bock
• Moritz Diehl

All users are invited to further improve qpOASES by providing comments, code enhancements, bug reports, additional documentation or whatever you feel is missing. The preferred way of doing so is to create a new ticket at the qpOASES webpage. In case you do not want to disclose your feedback to the public, you may send an e-mail to support@qpOASES.org or contact one of the main developers directly.

 

Citing qpOASES

If you use qpOASES within your scientific work, we strongly encourage you to cite at least one of the following publications:

• Reference to the software:

       @ARTICLE{Ferreau2014,
        author = {H.J. Ferreau and C. Kirches and A. Potschka and H.G. Bock and M. Diehl},
        title = {{qpOASES}: A parametric active-set algorithm for quadratic programming},
        journal = {Mathematical Programming Computation},
        year = {2014},
        volume = {6},
        number = {4},
        pages = {327--363},
        keywords = {qpOASES, parametric quadratic programming, active set method, model predictive control}
      }
  

• Reference to the online active set strategy:

       @ARTICLE{Ferreau2008,
        author = {H.J. Ferreau and H.G. Bock and M. Diehl},
        title = {An online active set strategy to overcome the limitations of explicit MPC},
        journal = {International Journal of Robust and Nonlinear Control},
        year = {2008},
        volume = {18},
        number = {8},
        pages = {816--830},
        keywords = {model predictive control, parametric quadratic programming, online active set strategy}
      }
  

• Reference to the webpage:

       @MISC{qpOASES2014,
        author = {H.J. Ferreau and A. Potschka and C. Kirches},
        title = {{qpOASES} webpage},
        howpublished = {http://www.qpOASES.org/},
        year = {2007--2015},
        keywords = {qpOASES, model predictive control, parametric quadratic programming, online active set strategy}
      }
  

 

More Information

More information can be found on http://www.qpOASES.org/ and in the qpOASES User's Manual.