{"id":"https://openalex.org/W2771208017","doi":"https://doi.org/10.1109/iros.2018.8593840","title":"A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control","display_name":"A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2771208017","doi":"https://doi.org/10.1109/iros.2018.8593840","mag":"2771208017"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1711.11006","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086334164","display_name":"Markus Giftthaler","orcid":"https://orcid.org/0000-0002-1839-9449"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Markus Giftthaler","raw_affiliation_strings":["ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053312475","display_name":"Michael Neunert","orcid":"https://orcid.org/0000-0003-2080-8376"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Neunert","raw_affiliation_strings":["ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028598175","display_name":"Markus St\u00e4uble","orcid":"https://orcid.org/0000-0003-3471-2914"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Markus Stauble","raw_affiliation_strings":["ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Agile & Dexterous Robotics Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[ETH Zurich, Agile & Dexterous Robotics Lab, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["Department of Microsystems Engineering (IMTEK), University of Freiburg, Germany","Department of Microsystems Engineering (IMTEK), University of Freiburg, Systems Control and Optimization Laboratory, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK), University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK), University of Freiburg, Systems Control and Optimization Laboratory, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086334164"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.5608,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.65698111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10821","display_name":"Cardiovascular Function and Risk Factors","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10409","display_name":"Fuel Cells and Related Materials","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7266427278518677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6134274005889893},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.605479896068573},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5889953374862671},{"id":"https://openalex.org/keywords/shooting-method","display_name":"Shooting method","score":0.5078304409980774},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4866960346698761},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4785326421260834},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.47768455743789673},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4769267439842224},{"id":"https://openalex.org/keywords/newtons-method","display_name":"Newton's method","score":0.4123554527759552},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30810263752937317},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.08399254083633423}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7266427278518677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6134274005889893},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.605479896068573},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5889953374862671},{"id":"https://openalex.org/C4195266","wikidata":"https://www.wikidata.org/wiki/Q1749769","display_name":"Shooting method","level":3,"score":0.5078304409980774},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4866960346698761},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4785326421260834},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.47768455743789673},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4769267439842224},{"id":"https://openalex.org/C85189116","wikidata":"https://www.wikidata.org/wiki/Q374195","display_name":"Newton's method","level":3,"score":0.4123554527759552},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30810263752937317},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.08399254083633423},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2018.8593840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1711.11006","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1711.11006","pdf_url":"https://arxiv.org/pdf/1711.11006","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2771208017","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1711.11006","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:freidok.uni-freiburg.de:270938","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/270938","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Towards a robotic society : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre. - Piscataway, NJ, 2018., ISBN: 978-1-5386-8094-0","raw_type":"article_in_conference_proceedings"},{"id":"doi:10.48550/arxiv.1711.11006","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1711.11006","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1711.11006","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1711.11006","pdf_url":"https://arxiv.org/pdf/1711.11006","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2771208017.pdf","grobid_xml":"https://content.openalex.org/works/W2771208017.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1582919213","https://openalex.org/W1603657390","https://openalex.org/W2072994709","https://openalex.org/W2078206056","https://openalex.org/W2080184275","https://openalex.org/W2087617385","https://openalex.org/W2111904757","https://openalex.org/W2115955659","https://openalex.org/W2158058858","https://openalex.org/W2158370675","https://openalex.org/W2167856595","https://openalex.org/W2198582666","https://openalex.org/W2418368699","https://openalex.org/W2491414412","https://openalex.org/W2529220408","https://openalex.org/W2583155113","https://openalex.org/W2754732998","https://openalex.org/W2771691050","https://openalex.org/W2783824884","https://openalex.org/W4250058668","https://openalex.org/W4293775970","https://openalex.org/W6633748999"],"related_works":["https://openalex.org/W2290668970","https://openalex.org/W2933463922","https://openalex.org/W2136304205","https://openalex.org/W2327888336","https://openalex.org/W2270619338","https://openalex.org/W2903010709","https://openalex.org/W2950093025","https://openalex.org/W3145065392","https://openalex.org/W2962882296","https://openalex.org/W2034672523","https://openalex.org/W2037783633","https://openalex.org/W2571129017","https://openalex.org/W2295410436","https://openalex.org/W2567333247","https://openalex.org/W192297843","https://openalex.org/W2617754940","https://openalex.org/W2567987570","https://openalex.org/W3035121862","https://openalex.org/W2902861592","https://openalex.org/W1803119066"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,30,70,104],"family":[4],"of":[5,61],"iterative":[6],"algorithms":[7,35,63,85],"for":[8,107],"unconstrained":[9],"nonlinear":[10,108],"optimal":[11],"control.":[12],"We":[13,56],"generalize":[14],"the":[15,44,52,58],"well-known":[16],"iLQR":[17],"algorithm":[18],"to":[19,75],"different":[20],"multiple":[21,83],"shooting":[22,84],"variants,":[23],"combining":[24],"advantages":[25],"like":[26],"straightforward":[27],"initialization":[28],"and":[29,47,64,94],"closed-loop":[31],"forward":[32],"integration.":[33],"All":[34],"have":[36],"similar":[37],"computational":[38,54],"complexity,":[39],"i.e.":[40],"linear":[41],"complexity":[42],"in":[43,51],"time":[45],"horizon,":[46],"can":[48,86],"be":[49],"derived":[50],"same":[53],"framework.":[55],"compare":[57],"full-step":[59],"variants":[60],"our":[62,82],"present":[65],"several":[66],"simulation":[67],"examples,":[68],"including":[69],"high-dimensional":[71],"underactuated":[72],"robot":[73],"subject":[74],"contact":[76],"switches.":[77],"Simulation":[78],"results":[79],"show":[80],"that":[81],"achieve":[87],"faster":[88],"convergence,":[89],"better":[90],"local":[91],"contraction":[92],"rates":[93],"much":[95],"shorter":[96],"runtimes":[97],"than":[98],"classical":[99],"iLQR,":[100],"which":[101],"makes":[102],"them":[103],"superior":[105],"choice":[106],"model":[109],"predictive":[110],"control":[111],"applications.":[112]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}