For custom build instructions (e.g. compilation with other third-party solvers) see [this wiki](https://github.com/rst-tu-dortmund/mpc_local_planner/wiki).
Refer to http://wiki.ros.org/mpc_local_planner for more general information and tutorials.
*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the software for published work.*
**Standard MPC and Hypergraph**
- C. Rösmann, M. Krämer, A. Makarow, F. Hoffmann und T. Bertram: Exploiting Sparse Structures in Nonlinear Model Predictive Control with Hypergraphs, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), New Zealand, July 2018.
**Time-Optimal MPC and Hypergraph**
- C. Rösmann: [Time-optimal nonlinear model predictive control - Direct transcription methods with variable discretization and structural sparsity exploitation](http://dx.doi.org/10.17877/DE290R-20283). Dissertation, TU Dortmund University, Oct. 2019.
- C. Rösmann, F. Hoffmann und T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, European Control Conference (ECC), Austria, July 2015.
- C. Rösmann, F. Hoffman und T. Bertram: Convergence Analysis of Time-Optimal Model Predictive Control under Limited Computational Resources, European Control Conference (ECC), Denmark, June 2016.
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