Zero-Order Moving Horizon Estimation. - Katrin Baumgärtner; Andrea Zanelli; Moritz Diehl (CDC, 2019)

Zero-Order Optimization-Based Iterative Learning Control. - Katrin Baumgärtner; Moritz Diehl (CDC, 2020)

A Gradient Condition for the Arrival Cost in Moving Horizon Estimation. - Katrin Baumgärtner; Andrea Zanelli; Moritz Diehl (ECC, 2020)

Zero-order moving horizon estimation for large-scale nonlinear processes. - Katrin Baumgärtner; Jonathan Frey; Reza Hashemi; Moritz Diehl (Comput. Chem. Eng., 2021)

The Extended Gauss-Newton Method for Nonconvex Loss Functions and its Application to Time-Optimal Model Predictive Control. - Katrin Baumgärtner; Moritz Diehl (ACC, 2022)

Moving Horizon Estimation with Adaptive Regularization for Ill-Posed State and Parameter Estimation Problems. - Katrin Baumgärtner; Rudolf Reiter; Moritz Diehl (CDC, 2022)

Fast Nonlinear Model Predictive Control using Barrier Formulations and Squashing with a Generalized Gauss-Newton Hessian. - Katrin Baumgärtner; Yizhen Wang; Andrea Zanelli; Moritz Diehl (CDC, 2022)

Nonlinear MPC and MHE of a Gasoline Controlled Auto-Ignition Engine based on Reduced-Order Differential Equation Models. - Jochem De Schutter; Eugen Nuss; Katrin Baumgärtner; Dirk Abel; Moritz Diehl (CDC, 2022)

Local Convergence Analysis of Damping for Zero-Order Optimization-Based Iterative Learning Control. - Katrin Baumgärtner; Moritz Diehl (ECC, 2023)

A Unified Local Convergence Analysis of Differential Dynamic Programming, Direct Single Shooting, and Direct Multiple Shooting. - Katrin Baumgärtner; Florian Messerer; Moritz Diehl (ECC, 2023)

Locally Weighted Regression with Approximate Derivatives for Data-based optimization. - Leonardo Cecchin; Katrin Baumgärtner; Stefan Gering; Moritz Diehl (ECC, 2023)

Stability Analysis of Nonlinear Model Predictive Control With Progressive Tightening of Stage Costs and Constraints. - Katrin Baumgärtner; Andrea Zanelli; Moritz Diehl (IEEE Control. Syst. Lett., 2023)

A Dual-Control Effect Preserving Formulation for Nonlinear Output-Feedback Stochastic Model Predictive Control With Constraints. - Florian Messerer; Katrin Baumgärtner; Moritz Diehl (IEEE Control. Syst. Lett., 2023)

Iterative Learning-Based Nonlinear Model Predictive Control of an Underactuated Autonomous Surface Vessel in Current Fields. - Hannes Homburger; Katrin Baumgärtner; Stefan Wirtensohn; Moritz Diehl; Johannes Reuter (CDC, 2024)

MPC4RL - A Software Package for Reinforcement Learning based on Model Predictive Control. - Dirk Reinhardt; Katrin Baumgärtner; Jonathan Frey; Moritz Diehl; Sebastien Gros (CDC, 2024)

Progressive Smoothing for Motion Planning in Real-Time NMPC. - Rudolf Reiter; Katrin Baumgärtner; Rien Quirynen; Moritz Diehl (ECC, 2024)

AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control. - Rudolf Reiter; Andrea Ghezzi; Katrin Baumgärtner; Jasper Hoffmann; Robert D. McAllister; Moritz Diehl (CoRR, 2024)

Fast Generation of Feasible Trajectories in Direct Optimal Control. - David Kiessling; Katrin Baumgärtner; Jonathan Frey; Wilm Decré; Jan Swevers; Moritz Diehl (IEEE Control. Syst. Lett., 2024)

Fourth-Order Suboptimality of Nominal Model Predictive Control in the Presence of Uncertainty. - Florian Messerer; Katrin Baumgärtner; Sergio Lucia; Moritz Diehl (IEEE Control. Syst. Lett., 2024)

Gauss-Newton Runge-Kutta integration for efficient discretization of optimal control problems with long horizons and least-squares costs. - Jonathan Frey; Katrin Baumgärtner; Moritz Diehl (Eur. J. Control, 2024)

Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification. - Rudolf Reiter; Jasper Hoffmann; Dirk Reinhardt; Florian Messerer; Katrin Baumgärtner; Shamburaj Sawant; Joschka Boedecker; Moritz Diehl; Sebastien Gros (CoRR, 2025)

Incorporating a Deep Neural Network into Moving Horizon Estimation for Embedded Thermal Torque Derating of an Electric Machine. - Alexander Winkler; Pranav Shah; Katrin Baumgärtner; Vasu Sharma; David C. Gordon; Jakob Andert (CoRR, 2025)

Differentiable Nonlinear Model Predictive Control. - Jonathan Frey; Katrin Baumgärtner; Gianluca Frison; Dirk Reinhardt; Jasper Hoffmann; Leonard Fichtner; Sebastien Gros; Moritz Diehl (CoRR, 2025)