A caster-wheel-aware MPC-based motion planner for mobile robotics. - Jon Arrizabalaga; Niels van Duijkeren; Markus Ryll; Ralph Lange (ICAR, 2021)

Spatial motion planning with Pythagorean Hodograph curves. - Jon Arrizabalaga; Markus Ryll (CDC, 2022)

Towards Time-Optimal Tunnel-Following for Quadrotors. - Jon Arrizabalaga; Markus Ryll (ICRA, 2022)

Spatially Constrained Time-Optimal Motion Planning. - Jon Arrizabalaga; Markus Ryll (CoRR, 2022)

Pose-Following with Dual Quaternions. - Jon Arrizabalaga; Markus Ryll (CDC, 2023)

SCTOMP: Spatially Constrained Time-Optimal Motion Planning. - Jon Arrizabalaga; Markus Ryll (IROS, 2023)

Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms. - Tim Salzmann; Elia Kaufmann; Jon Arrizabalaga; Marco Pavone 001; Davide Scaramuzza 001; Markus Ryll (IEEE Robotics Autom. Lett., 2023)

Geometric Slosh-Free Tracking for Robotic Manipulators. - Jon Arrizabalaga; Lukas Pries; Riddhiman Laha; Runkang Li; Sami Haddadin; Markus Ryll (ICRA, 2024)

Differentiable Collision-Free Parametric Corridors. - Jon Arrizabalaga; Zachary Manchester; Markus Ryll (IROS, 2024)

Learning for CasADi: Data-driven models in numerical optimization. - Tim Salzmann; Jon Arrizabalaga; Joel Andersson 001; Marco Pavone 001; Markus Ryll (L4DC, 2024)

A Universal Formulation for Path-Parametric Planning and Control. - Jon Arrizabalaga; Markus Ryll (CoRR, 2024)

PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System. - Jon Arrizabalaga; Fausto Vega; Zbynek SÍR; Zachary Manchester; Markus Ryll (CoRR, 2024)