Rien Quirynen
 Phone: 6176217517
 Email:

Position:
Research / Technical Staff
Principal Research Scientist 
Education:
Ph.D., KU Leuven and University of Freiburg, 2017 
Research Areas:
External Links:
Rien's Quick Links

Biography
Rien's research interests are in model predictive control and moving horizon estimation, numerical algorithms for (nonlinear) dynamic optimization and realtime control applications. His doctoral research was focused on numerical simulation methods with efficient sensitivity propagation for realtime optimal control algorithms.

Recent News & Events

NEWS MERL researchers presented 10 papers at American Control Conference (ACC) Date: July 1, 2020  July 3, 2020
Where: Denver, Colorado (virtual)
MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Stefano Di Cairano; Saleh Nabi; Rien Quirynen; Yebin Wang; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief At the American Control Conference, MERL presented 10 papers on subjects including autonomousvehicle decision making and motion planning, nonlinear estimation for thermalfluid models and GNSS positioning, learningbased reference governors and reference governors for railway vehicles, and failsafe rendezvous control.

NEWS MERL researchers presented 8 papers at American Control Conference Date: July 10, 2019  July 12, 2019
Where: Philadelphia
MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Stefano Di Cairano; Devesh Jha; Rien Quirynen; Yebin Wang; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief At the American Control Conference, MERL presented 8 papers on subjects including model predictive control applications, estimation and motion planning for vehicles, modular control architectures, and adaptation and learning.
See All News & Events for Rien 

MERL Publications
 "Early Termination of Convex QP Solvers in MixedInteger Programming for RealTime Decision Making", LCSS with ACC 2021 Option, November 2020.BibTeX TR2020152 PDF
 @article{Liang2020nov,
 author = {Liang, Jiaming and Di Cairano, Stefano and Quirynen, Rien},
 title = {Early Termination of Convex QP Solvers in MixedInteger Programming for RealTime Decision Making},
 journal = {LCSS with ACC 2021 Option},
 year = 2020,
 month = nov,
 url = {https://www.merl.com/publications/TR2020152}
 }
,  ": BlockStructured Preconditioning of Iterative Solvers within a Primal ActiveSet Method for fast MPC", Optimal Control Applications & Methods, DOI: https://doi.org/10.1002/oca.2652, Vol. 41, No. 6, pp. 22822307, September 2020.BibTeX TR2020134 PDF
 @article{Quirynen2020sep,
 author = {Quirynen, Rien and Di Cairano, Stefano},
 title = {: BlockStructured Preconditioning of Iterative Solvers within a Primal ActiveSet Method for fast MPC},
 journal = {Optimal Control Applications & Methods},
 year = 2020,
 volume = 41,
 number = 6,
 pages = {22822307},
 month = sep,
 doi = {https://doi.org/10.1002/oca.2652},
 url = {https://www.merl.com/publications/TR2020134}
 }
,  "Inexact Adjointbased SQP Algorithm for RealTime Stochastic Nonlinear MPC", World Congress of the International Federation of Automatic Control (IFAC), July 2020.BibTeX TR2020103 PDF
 @inproceedings{Quirynen2020jul2,
 author = {Quirynen, Rien and Feng, Xuhui and Di Cairano, Stefano},
 title = {Inexact Adjointbased SQP Algorithm for RealTime Stochastic Nonlinear MPC},
 booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
 year = 2020,
 month = jul,
 url = {https://www.merl.com/publications/TR2020103}
 }
,  "ActiveSet based Inexact Interior Point QP Solver for Model Predictive Control", World Congress of the International Federation of Automatic Control (IFAC), July 2020.BibTeX TR2020105 PDF
 @inproceedings{Quirynen2020jul3,
 author = {Quirynen, Rien and Frey, Jonathan and Di Cairano, Stefano},
 title = {ActiveSet based Inexact Interior Point QP Solver for Model Predictive Control},
 booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
 year = 2020,
 month = jul,
 url = {https://www.merl.com/publications/TR2020105}
 }
,  "Autonomous Vehicle DecisionMaking and Monitoring based on Signal Temporal Logic and MixedInteger Programming", American Control Conference (ACC), DOI: 10.23919/ACC45564.2020.9147917, July 2020.BibTeX TR2020095 PDF
 @inproceedings{Sahin2020jul,
 author = {Sahin, Yunus Emre and Quirynen, Rien and Di Cairano, Stefano},
 title = {Autonomous Vehicle DecisionMaking and Monitoring based on Signal Temporal Logic and MixedInteger Programming},
 booktitle = {American Control Conference (ACC)},
 year = 2020,
 month = jul,
 doi = {10.23919/ACC45564.2020.9147917},
 url = {https://www.merl.com/publications/TR2020095}
 }
,
 "Early Termination of Convex QP Solvers in MixedInteger Programming for RealTime Decision Making", LCSS with ACC 2021 Option, November 2020.

Other Publications
 "Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC", Proceedings of the IFAC World Congress, 2017.BibTeX
 @Inproceedings{Frison2017,
 author = {Frison, G. and Quirynen, R. and Zanelli, A. and Diehl, M. and Jorgensen, J. B.},
 title = {Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2017
 }
,  "Implicit Integrators for Linear Dynamics Coupled to a Nonlinear Static Feedback and Application to Wind Turbine Control", Proceedings of the IFAC World Congress, 2017.BibTeX
 @Inproceedings{Gros2017,
 author = {Gros, S. and Quirynen, R. and Schild, A. and Diehl, M.},
 title = {Implicit Integrators for Linear Dynamics Coupled to a Nonlinear Static Feedback and Application to Wind Turbine Control},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2017
 }
,  "Numerical Simulation Methods for Embedded Optimization", 2017, KU Leuven and University of Freiburg.BibTeX
 @Phdthesis{Quirynen2017,
 author = {Quirynen, R.},
 title = {Numerical Simulation Methods for Embedded Optimization},
 school = {KU Leuven and University of Freiburg},
 year = 2017
 }
,  "Efficient Symmetric Hessian Propagation for Direct Optimal Control", Journal of Process Control, Vol. 50, pp. 1928, 2017.BibTeX
 @Article{Quirynen2017a,
 author = {Quirynen, R. and Houska, B. and Diehl, M.},
 title = {Efficient Symmetric Hessian Propagation for Direct Optimal Control},
 journal = {Journal of Process Control},
 year = 2017,
 volume = 50,
 pages = {1928}
 }
,  "Robust MPC via minmax differential inequalities", Automatica, Vol. 77, pp. 311321, March 2017.BibTeX
 @Article{Villanueva2017,
 author = {Villanueva, M. E. and Quirynen, R. and Diehl, M. and Chachuat, B. and Houska, B.},
 title = {Robust MPC via minmax differential inequalities},
 journal = {Automatica},
 year = 2017,
 volume = 77,
 pages = {311321},
 month = mar
 }
,  "A Homotopybased Nonlinear Interior Point Method for NMPC Applications", Proceedings of the IFAC World Congress, 2017.BibTeX
 @Inproceedings{Zanelli2017,
 author = {Zanelli, A. and Quirynen, R. and Jerez, J. and Diehl, M.},
 title = {A Homotopybased Nonlinear Interior Point Method for NMPC Applications},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2017
 }
,  "Nonlinear MPC for Combustion Engine Control: A Parameter Study for Realizing RealTime Feasibility", Proceedings of the IEEE Multiconference on Systems and Control (MSC), 2016, pp. 311316.BibTeX
 @Inproceedings{Albin2016,
 author = {Albin, T. and Frank, F. and Ritter, D. and Abel, D. and Quirynen, R. and Diehl, M.},
 title = {Nonlinear MPC for Combustion Engine Control: A Parameter Study for Realizing RealTime Feasibility},
 booktitle = {Proceedings of the IEEE Multiconference on Systems and Control (MSC)},
 year = 2016,
 pages = {311316}
 }
,  "InVehicle Realization of Nonlinear MPC for Gasoline TwoStage Turbocharging Airpath Control", IEEE Transactions on Control Systems Technology, 2016.BibTeX
 @Article{Albin2016a,
 author = {Albin, T. and Ritter, D. and Quirynen, R. and Diehl, M.},
 title = {InVehicle Realization of Nonlinear MPC for Gasoline TwoStage Turbocharging Airpath Control},
 journal = {IEEE Transactions on Control Systems Technology},
 year = 2016,
 note = {(submitted)}
 }
,  "From Linear to Nonlinear MPC: bridging the gap via the RealTime Iteration", International Journal of Control, 2016.BibTeX
 @Article{Gros2016,
 author = {Gros, S. and Zanon, M. and Quirynen, R. and Bemporad, A. and Diehl, M.},
 title = {From Linear to Nonlinear MPC: bridging the gap via the RealTime Iteration},
 journal = {International Journal of Control},
 year = 2016
 }
,  "A Block Based ALADIN Scheme for Highly Parallelizable Direct Optimal Control", Proceedings of the American Control Conference (ACC), 2016, pp. 11241129.BibTeX
 @Inproceedings{Kouzoupis2016,
 author = {Kouzoupis, D. and Quirynen, R. and Houska, B. and Diehl, M.},
 title = {A Block Based ALADIN Scheme for Highly Parallelizable Direct Optimal Control},
 booktitle = {Proceedings of the American Control Conference (ACC)},
 year = 2016,
 pages = {11241129}
 }
,  "An Efficient SQP Algorithm for Moving Horizon Estimation with Huber Penalties and MultiRate Measurements", Proceedings of the IEEE Multiconference on Systems and Control (MSC), 2016, pp. 14821487.BibTeX
 @Inproceedings{Kouzoupis2016a,
 author = {Kouzoupis, D. and Quirynen, R. and Girrbach, F. and Diehl, M.},
 title = {An Efficient SQP Algorithm for Moving Horizon Estimation with Huber Penalties and MultiRate Measurements},
 booktitle = {Proceedings of the IEEE Multiconference on Systems and Control (MSC)},
 year = 2016,
 pages = {14821487}
 }
,  "A Quadratically Convergent Primal Decomposition Algorithm with Soft Coupling for Nonlinear Parameter Estimation", Proceedings of the IEEE Conference on Decision and Control (CDC), 2016.BibTeX
 @Inproceedings{Kouzoupis2016b,
 author = {Kouzoupis, D. and Quirynen, R. and Lago Garcia, J. and Erhard, M. and Diehl, M.},
 title = {A Quadratically Convergent Primal Decomposition Algorithm with Soft Coupling for Nonlinear Parameter Estimation},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2016
 }
,  "Symmetric Hessian propagation for lifted collocation integrators in direct optimal control.", Proceedings of the American Control Conference (ACC), 2016, pp. 11171123.BibTeX
 @Inproceedings{Quirynen2016,
 author = {Quirynen, R. and Houska, B. and Diehl, M.},
 title = {Symmetric Hessian propagation for lifted collocation integrators in direct optimal control.},
 booktitle = {Proceedings of the American Control Conference (ACC)},
 year = 2016,
 pages = {11171123}
 }
,  "Inexact NewtonType Optimization with Iterated Sensitivities", SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065502), 2016.BibTeX
 @Article{Quirynen2016a,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Inexact NewtonType Optimization with Iterated Sensitivities},
 journal = {SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065502)},
 year = 2016
 }
,  "Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit", Mathematical Programming Computation (accepted, preprint available at Optimization Online, 2016055468), 2016.BibTeX
 @Article{Quirynen2016b,
 author = {Quirynen, R. and Gros, S. and Houska, B. and Diehl, M.},
 title = {Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit},
 journal = {Mathematical Programming Computation (accepted, preprint available at Optimization Online, 2016055468)},
 year = 2016
 }
,  "Exploiting Convexity in Direct Optimal Control: a Sequential Convex Quadratic Programming Method", Proceedings of the IEEE Conference on Decision and Control (CDC), 2016.BibTeX
 @Inproceedings{Verschueren2016,
 author = {Verschueren, R. and van Duijkeren, N. and Quirynen, R. and Diehl, M.},
 title = {Exploiting Convexity in Direct Optimal Control: a Sequential Convex Quadratic Programming Method},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2016
 }
,  "Timeoptimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm", Proceedings of the European Control Conference (ECC), 2016.BibTeX
 @Inproceedings{Verschueren2016b,
 author = {Verschueren, R. and Zanon, M. and Quirynen, R. and Diehl, M.},
 title = {Timeoptimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm},
 booktitle = {Proceedings of the European Control Conference (ECC)},
 year = 2016
 }
,  "A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control", SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065512), 2016.BibTeX
 @Article{Verschueren2016c,
 author = {Verschueren, R. and Zanon, M. and Quirynen, R. and Diehl, M.},
 title = {A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control},
 journal = {SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065512)},
 year = 2016
 }
,  "An efficient inexact NMPC scheme with stability and feasibility guarantees", Proceedings of 10th IFAC Symposium on Nonlinear Control Systems, August 2016.BibTeX
 @Inproceedings{Zanelli2016,
 author = {Zanelli, A. and Quirynen, R. and Diehl, M.},
 title = {An efficient inexact NMPC scheme with stability and feasibility guarantees},
 booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems},
 year = 2016,
 address = {Monterey, CA, USA},
 month = aug
 }
,  "Nonlinear MPC for a TwoStage Turbocharged Gasoline Engine Airpath", Proceedings of the IEEE Conference on Decision and Control (CDC), 2015, pp. 849856.BibTeX
 @Inproceedings{Albin2015,
 author = {Albin, T. and Ritter, D. and Abel, D. and Liberda, N. and Quirynen, R. and Diehl, M.},
 title = {Nonlinear MPC for a TwoStage Turbocharged Gasoline Engine Airpath},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2015,
 pages = {849856}
 }
,  "Block Condensing for Fast Nonlinear MPC with the Dual Newton Strategy", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015, vol. 48, pp. 2631.BibTeX
 @Inproceedings{Kouzoupis2015b,
 author = {Kouzoupis, D. and Quirynen, R. and Frasch, J. V. and Diehl, M.},
 title = {Block Condensing for Fast Nonlinear MPC with the Dual Newton Strategy},
 booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
 year = 2015,
 volume = 48,
 number = 23,
 pages = {2631}
 }
,  "A Compression Algorithm for RealTime Distributed Nonlinear MPC", Proceedings of the European Control Conference (ECC), 2015, pp. 34223427.BibTeX
 @Inproceedings{Quirynen2015,
 author = {Quirynen, R. and Zanon, M. and Kozma, A. and Diehl, M.},
 title = {A Compression Algorithm for RealTime Distributed Nonlinear MPC},
 booktitle = {Proceedings of the European Control Conference (ECC)},
 year = 2015,
 pages = {34223427}
 }
,  "Lifted implicit integrators for direct optimal control", Proceedings of the IEEE Conference on Decision and Control (CDC), 2015, pp. 32123217.BibTeX
 @Inproceedings{Quirynen2015a,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Lifted implicit integrators for direct optimal control},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2015,
 pages = {32123217}
 }
,  "Inexact Newton based Lifted Implicit Integrators for fast Nonlinear MPC", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015, pp. 3238.BibTeX
 @Inproceedings{Quirynen2015b,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Inexact Newton based Lifted Implicit Integrators for fast Nonlinear MPC},
 booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
 year = 2015,
 pages = {3238}
 }
,  "Multiple Shooting in a Microsecond" in Multiple Shooting and Time Domain Decomposition Methods, pp. 183201, Springer, 2015.BibTeX
 @Incollection{Quirynen2015c,
 author = {Quirynen, R. and Vukov, M. and Diehl, M.},
 title = {Multiple Shooting in a Microsecond},
 booktitle = {Multiple Shooting and Time Domain Decomposition Methods},
 year = 2015,
 pages = {183201},
 publisher = {Springer}
 }
,  "Nonlinear MPC for Emission Efficient Cooperative Adaptive Cruise Control", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015.BibTeX
 @Inproceedings{Schmied2015,
 author = {Schmied, R. and Waschl, H. and Quirynen, R. and Diehl, M. and del Re, L.},
 title = {Nonlinear MPC for Emission Efficient Cooperative Adaptive Cruise Control},
 booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
 year = 2015
 }
,  "Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane", Proceedings of the IFAC World Congress, 2014, pp. 96179622.BibTeX
 @Inproceedings{Debrouwere2014,
 author = {Debrouwere, F. and Vukov, M. and Quirynen, R. and Diehl, M. and Swevers, J.},
 title = {Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2014,
 pages = {96179622}
 }
,  "An Improved Realtime NMPC Scheme for Wind Turbine Control using SplineInterpolated Aerodynamic Coefficients", Proceedings of the IEEE Conference on Decision and Control (CDC), 2014.BibTeX
 @Inproceedings{Gros2014b,
 author = {Gros, S. and Quirynen, R. and Diehl, M.},
 title = {An Improved Realtime NMPC Scheme for Wind Turbine Control using SplineInterpolated Aerodynamic Coefficients},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2014
 }
,  "LSSVM based initialization approach for parameter estimation of dynamical systems", Journal of Physics: Conference Series, 2014.BibTeX
 @Article{Mehrkanoon2014,
 author = {Mehrkanoon, S. and Quirynen, R. and Diehl, M. and Suykens, J. AK},
 title = {LSSVM based initialization approach for parameter estimation of dynamical systems},
 journal = {Journal of Physics: Conference Series},
 year = 2014
 }
,  "Autogenerating Microsecond Solvers for Nonlinear MPC: a Tutorial Using ACADO Integrators", Optimal Control Applications and Methods, Vol. 36, pp. 685704, 2014.BibTeX
 @Article{Quirynen2014a,
 author = {Quirynen, R. and Vukov, M. and Zanon, M. and Diehl, M.},
 title = {Autogenerating Microsecond Solvers for Nonlinear MPC: a Tutorial Using ACADO Integrators},
 journal = {Optimal Control Applications and Methods},
 year = 2014,
 volume = 36,
 pages = {685704}
 }
,  "Symmetric Algorithmic Differentiation Based Exact Hessian SQP Method and Software for Economic MPC", Proceedings of the IEEE Conference on Decision and Control (CDC), 2014, pp. 27522757.BibTeX
 @Inproceedings{Quirynen2014c,
 author = {Quirynen, R. and Houska, B. and Vallerio, M. and Telen, D. and Logist, F. and Impe, J. Van and Diehl, M.},
 title = {Symmetric Algorithmic Differentiation Based Exact Hessian SQP Method and Software for Economic MPC},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2014,
 pages = {27522757}
 }
,  "Optimal experiment design for nonlinear dynamic (bio)chemical systems using sequential semidefinite programming", AIChE (American Institute of Chemical Engineers) Journal, Vol. 60, No. 5, pp. 17281739, 2014.BibTeX
 @Article{Telen2014,
 author = {Telen, D. and Logist, F. and Quirynen, R. and Houska, B. and Diehl, M. and Impe, J. Van},
 title = {Optimal experiment design for nonlinear dynamic (bio)chemical systems using sequential semidefinite programming},
 journal = {AIChE (American Institute of Chemical Engineers) Journal},
 year = 2014,
 volume = 60,
 number = 5,
 pages = {17281739}
 }
,  "Fast auto generated ACADO integrators and application to MHE with multirate measurements", Proceedings of the European Control Conference (ECC), 2013, pp. 30773082.BibTeX
 @Inproceedings{Quirynen2013,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Fast auto generated ACADO integrators and application to MHE with multirate measurements},
 booktitle = {Proceedings of the European Control Conference (ECC)},
 year = 2013,
 pages = {30773082}
 }
,  "Efficient NMPC for nonlinear models with linear subsystems", Proceedings of the IEEE Conference on Decision and Control (CDC), 2013, pp. 51015106.BibTeX
 @Inproceedings{Quirynen2013a,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Efficient NMPC for nonlinear models with linear subsystems},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2013,
 pages = {51015106}
 }
,  "Aircraft Control Based on Fast Nonlinear MPC & Multipleshooting", Proceedings of the IEEE Conference on Decision and Control (CDC), 2012.BibTeX
 @Inproceedings{Gros2012e,
 author = {Gros, S. and Quirynen, R. and Diehl, M.},
 title = {Aircraft Control Based on Fast Nonlinear MPC & Multipleshooting},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2012
 }
,  "Automatic code generation of Implicit RungeKutta integrators with continuous output for fast embedded optimization", 2012, KU Leuven.BibTeX
 @Mastersthesis{Quirynen2012,
 author = {Quirynen, R.},
 title = {Automatic code generation of Implicit RungeKutta integrators with continuous output for fast embedded optimization},
 school = {KU Leuven},
 year = 2012
 }
,  "Auto Generation of Implicit Integrators for Embedded NMPC with Microsecond Sampling Times", Proceedings of the 4th IFAC Nonlinear Model Predictive Control Conference, 2012, pp. 175180.BibTeX
 @Inproceedings{Quirynen2012a,
 author = {Quirynen, R. and Vukov, M. and Diehl, M.},
 title = {Auto Generation of Implicit Integrators for Embedded NMPC with Microsecond Sampling Times},
 booktitle = {Proceedings of the 4th IFAC Nonlinear Model Predictive Control Conference},
 year = 2012,
 pages = {175180}
 }
,
 "Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC", Proceedings of the IFAC World Congress, 2017.

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MERL Issued Patents

Title: "Method and Apparatus for Preconditioned Predictive Control of Vehicle Movement"
Inventors: Quirynen, Rien; Kniazev, Andrei; Di Cairano, Stefano
Patent No.: 10,877,445
Issue Date: Dec 29, 2020 
Title: "Method and Apparatus for Preconditioned Predictive Control"
Inventors: Quirynen, Rien; Kniazev, Andrei; Di Cairano, Stefano
Patent No.: 10,613,490
Issue Date: Apr 7, 2020 
Title: "Method with QuasiNewton Jacobian Updates for Nonlinear Predictive Control"
Inventors: Quirynen, Rien; Hespanhol, Pedro
Patent No.: 10,409,233
Issue Date: Sep 10, 2019

Title: "Method and Apparatus for Preconditioned Predictive Control of Vehicle Movement"