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We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…

From the discovery that the template system of C++ forms a Turing complete language in 1994, a programming technique called Template Metaprogramming has emerged that allows for the creation of faster, more generic and better code. Here, we…

Translating programs between various parallel programming languages is an important problem in the high-performance computing (HPC) community. Existing tools for this problem are either too narrow in scope and/or outdated. Recent explosive…

The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…

The development of the mlpack C++ machine learning library (http://www.mlpack.org/) has required the design and implementation of a flexible, robust optimization system that is able to solve the types of arbitrary optimization problems that…

Fine-grained memory protection for C and C++ programs must track individual objects (or pointers), and store bounds information per object (pointer). Its cost is dominated by metadata updates and lookups, making efficient metadata…

This paper presents a novel, mathematically rigorous framework for autoencoder-type deep neural networks that combines optimal control theory and low-rank tensor methods to yield memory-efficient training and automated architecture…

Testing is one of the most indispensable tasks in software engineering. The role of testing in software development has grown significantly because testing is able to reveal defects in the code in an early stage of development. Many unit…

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…

Autonomic computing has been proposed recently as a way to address the difficult management of applications whose complexity is constantly increasing. Autonomous applications will have to be especially flexible and be able to monitor…

This article describes the application of a credible autocoding framework for control systems towards a nonlinear car controller example. The framework generates code, along with guarantees of high level functional properties about the code…

This work presents PANTR, an efficient solver for nonconvex constrained optimization problems, that is well-suited as an inner solver for an augmented Lagrangian method. The proposed scheme combines forward-backward iterations with…

Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…

TemplateTagger is a C++ package for jet substructure analysis with Template Overlap Method. The code operates with arbitrary models within fixed-order perturbation theory and arbitrary kinematics. Specialized template generation classes…

We present ensmallen, a fast and flexible C++ library for mathematical optimization of arbitrary user-supplied functions, which can be applied to many machine learning problems. Several types of optimizations are supported, including…

Manual parallelization of code remains a significant challenge due to the complexities of modern software systems and the widespread adoption of multi-core architectures. This paper introduces OMPar, an AI-driven tool designed to automate…

The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems (OCP) in a centralized and distributed fashion using the…

Complex real-time control system is a software dense and algorithms dense system, which needs modern software engineering techniques to design. UML is an object-oriented industrial standard modeling language, used more and more in real-time…

This report provides an introduction to the ensmallen numerical optimization library, as well as a deep dive into the technical details of how it works. The library provides a fast and flexible C++ framework for mathematical optimization of…

Heterogeneous systems are becoming more common on High Performance Computing (HPC) systems. Even using tools like CUDA and OpenCL it is a non-trivial task to obtain optimal performance on the GPU. Approaches to simplifying this task include…