An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Freedom. - Tobias Schoels; Luigi Palmieri; Kai Oliver Arras; Moritz Diehl (CoRR, 2019)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance. - Tobias Schoels; Luigi Palmieri; Kai O. Arras; Moritz Diehl (ICRA, 2020)

CIAO$^ star$: MPC-based Safe Motion Planning in Predictable Dynamic Environments. - Tobias Schoels; Per Rutquist; Luigi Palmieri; Andrea Zanelli; Kai O. Arras; Moritz Diehl (CoRR, 2020)

Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems. - Ricard Bordalba; Tobias Schoels; Lluís Ros; Josep M. Porta; Moritz Diehl (IEEE Trans. Robotics, 2023)