Rien Quirynen

Rien Quirynen
  • Biography

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

  • Recent News & Events

    •  TALK    [MERL Seminar Series 2022] Prof. Sebastien Gros presents talk titled RLMPC: An Ideal Combination of Formal Optimal Control and Reinforcement Learning?
      Date & Time: Tuesday, April 12, 2022; 11:00 AM EDT
      Speaker: Sebastien Gros, NTNU
      MERL Host: Rien Quirynen
      Research Areas: Control, Dynamical Systems, Optimization
      Abstract
      • Reinforcement Learning (RL), similarly to many AI-based techniques, is currently receiving a very high attention. RL is most commonly supported by classic Machine Learning techniques, i.e. typically Deep Neural Networks (DNNs). While there are good motivations for using DNNs in RL, there are also significant drawbacks. The lack of “explainability” of the resulting control policies, and the difficulty to provide guarantees on their closed-loop behavior (safety, stability) makes DNN-based policies problematic in many applications. In this talk, we will discuss an alternative approach to support RL, via formal optimal control tools based on Model Predictive Control (MPC). This approach alleviates the issues detailed above, but also presents some challenges. In this talk, we will discuss why MPC is a valid tool to support RL, and how MPC can be combined with RL (RLMPC). We will then discuss some recent results regarding this combination, the known challenges, and the kind of control applications where we believe that RLMPC will be a valuable approach.
    •  
    •  NEWS    Rien Quirynen appointed as an Associate Editor for Journal of Optimal Control Applications and Methods (OCAM)
      Date: February 24, 2022
      MERL Contact: Rien Quirynen
      Research Areas: Control, Optimization
      Brief
      • Rien Quirynen has accepted an invitation to serve on the editorial board of Journal of Optimal Control Applications and Methods (OCAM) as an Associate Editor.

        OCAM provides a forum for papers on the full range of optimal control and related control design methods. The aim is to encourage new developments in optimal control theory and design methodologies that may lead to advances in real control applications.
    •  

    See All News & Events for Rien
  • Internships with Rien

    • CA1742: Mixed-Integer Programming for Motion Planning and Control

      MERL is looking for a highly motivated individual to work on tailored computational algorithms and applications of mixed-integer programming for decision making, motion planning and control of hybrid systems. The research will involve the study and development of numerical optimization techniques and/or the implementation and validation of algorithms for industrial applications, e.g., related to autonomous driving and robotics. The ideal candidate should have experience in either one or multiple of the following topics: branch-and-bound type methods, heuristics for mixed-integer programming (pre-solve, cutting planes, warm starting, integer-feasible solutions), modeling and formulation of MIPs for hybrid control systems, convex and non-convex optimization, machine learning and real-time optimization. PhD students in engineering or mathematics, especially with a focus on mixed-integer programming or numerical optimization, are encouraged to apply. Publication of relevant results in conference proceedings and journals is expected. Capability of implementing the designs and algorithms in MATLAB/Python is expected; coding parts of the algorithms in C/C++ is a plus. The expected duration of the internship is 3-6 months and the start date is flexible.

    • CA1795: Path Planning and Control for Autonomous Articulated Vehicles

      MERL is seeking a highly motivated and qualified intern to collaborate with multiple researchers on the implementation and experimental validation of algorithms for path/motion planning, optimal control and reference tracking in autonomous articulated vehicles. The ideal candidate has a background in either path planning or model predictive control (MPC) for autonomous (articulated) vehicles, and the candidate should be familiar with optimal control, vehicle dynamics, A* search, Matlab and Simulink, and C/C++ code generation. Any experience with dSPACE (e.g., MicroAutoBox or Scalexio) is a plus. MS or PhD students in control, robotics, electrical and mechanical, or related areas, are encouraged to apply. Start date for this internship is as soon as possible, and the expected duration is about 3-6 months.

    See All Internships at MERL
  • MERL Publications

    •  Vinod, A.P., Safaoui, S., Chakrabarty, A., Quirynen, R., yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning via filtered reinforcement learning", IEEE International Conference on Robotics and Automation (ICRA) 2022, May 2022.
      BibTeX TR2022-053 PDF Video
      • @inproceedings{Vinod2022may,
      • author = {Vinod, Abraham P. and Safaoui, Sleiman and Chakrabarty, Ankush and Quirynen, Rien and yoshikawa, nobuyuki and Di Cairano, Stefano},
      • title = {Safe multi-agent motion planning via filtered reinforcement learning},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) 2022},
      • year = 2022,
      • month = may,
      • url = {https://www.merl.com/publications/TR2022-053}
      • }
    •  Cauligi, A., Chakrabarty, A., Di Cairano, S., Quirynen, R., "PRISM: Recurrent Neural Networks and Presolve Methods for Fast Mixed-integer Optimal Control", Learning for Dynamics and Control Conference (L4DC), April 2022.
      BibTeX TR2022-039 PDF
      • @inproceedings{Cauligi2022apr,
      • author = {Cauligi, Abhishek and Chakrabarty, Ankush and Di Cairano, Stefano and Quirynen, Rien},
      • title = {PRISM: Recurrent Neural Networks and Presolve Methods for Fast Mixed-integer Optimal Control},
      • booktitle = {Learning for Dynamics and Control Conference (L4DC)},
      • year = 2022,
      • month = apr,
      • url = {https://www.merl.com/publications/TR2022-039}
      • }
    •  Quirynen, R., Di Cairano, S., "Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC45484.2021.9683714, December 2021, pp. 993-999.
      BibTeX TR2021-147 PDF
      • @inproceedings{Quirynen2021dec,
      • author = {Quirynen, Rien and Di Cairano, Stefano},
      • title = {Sequential Quadratic Programming Algorithm for Real-Time Mixed-Integer Nonlinear MPC},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2021,
      • pages = {993--999},
      • month = dec,
      • doi = {10.1109/CDC45484.2021.9683714},
      • url = {https://www.merl.com/publications/TR2021-147}
      • }
    •  Srinivasan, M., Chakrabarty, A., Quirynen, R., yoshikawa, N., Mariyama, T., Di Cairano, S., "Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs", IFAC Modeling, Estimation and Control Conference (MECC), DOI: 10.1016/​j.ifacol.2021.11.237, October 2021, pp. 598-604.
      BibTeX TR2021-134 PDF
      • @inproceedings{Srinivasan2021oct,
      • author = {Srinivasan, Mohit and Chakrabarty, Ankush and Quirynen, Rien and yoshikawa, nobuyuki and Mariyama, Toshisada and Di Cairano, Stefano},
      • title = {Fast Multi-Robot Motion Planning via Imitation Learning of Mixed-Integer Programs},
      • booktitle = {IFAC Modeling, Estimation and Control Conference (MECC)},
      • year = 2021,
      • pages = {598--604},
      • month = oct,
      • doi = {10.1016/j.ifacol.2021.11.237},
      • url = {https://www.merl.com/publications/TR2021-134}
      • }
    •  Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/​SMC52423.2021.9659186, October 2021, pp. 3238-3244.
      BibTeX TR2021-126 PDF Video
      • @inproceedings{Chakrabarty2021oct,
      • author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and Di Cairano, Stefano},
      • title = {Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC},
      • booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
      • year = 2021,
      • pages = {3238--3244},
      • month = oct,
      • doi = {10.1109/SMC52423.2021.9659186},
      • url = {https://www.merl.com/publications/TR2021-126}
      • }
    See All Publications for Rien
  • Other Publications

    •  G. Frison, R. Quirynen, A. Zanelli, M. Diehl and J. B. Jorgensen, "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
      • }
    •  S. Gros, R. Quirynen, A. Schild and M. Diehl, "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
      • }
    •  R. Quirynen, "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
      • }
    •  R. Quirynen, B. Houska and M. Diehl, "Efficient Symmetric Hessian Propagation for Direct Optimal Control", Journal of Process Control, Vol. 50, pp. 19-28, 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 = {19--28}
      • }
    •  M. E. Villanueva, R. Quirynen, M. Diehl, B. Chachuat and B. Houska, "Robust MPC via min-max differential inequalities", Automatica, Vol. 77, pp. 311-321, 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 min-max differential inequalities},
      • journal = {Automatica},
      • year = 2017,
      • volume = 77,
      • pages = {311--321},
      • month = mar
      • }
    •  A. Zanelli, R. Quirynen, J. Jerez and M. Diehl, "A Homotopy-based 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 Homotopy-based Nonlinear Interior Point Method for NMPC Applications},
      • booktitle = {Proceedings of the IFAC World Congress},
      • year = 2017
      • }
    •  T. Albin, F. Frank, D. Ritter, D. Abel, R. Quirynen and M. Diehl, "Nonlinear MPC for Combustion Engine Control: A Parameter Study for Realizing Real-Time Feasibility", Proceedings of the IEEE Multi-conference on Systems and Control (MSC), 2016, pp. 311-316.
      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 Real-Time Feasibility},
      • booktitle = {Proceedings of the IEEE Multi-conference on Systems and Control (MSC)},
      • year = 2016,
      • pages = {311--316}
      • }
    •  T. Albin, D. Ritter, R. Quirynen and M. Diehl, "In-Vehicle Realization of Nonlinear MPC for Gasoline Two-Stage 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 = {In-Vehicle Realization of Nonlinear MPC for Gasoline Two-Stage Turbocharging Airpath Control},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2016,
      • note = {(submitted)}
      • }
    •  S. Gros, M. Zanon, R. Quirynen, A. Bemporad and M. Diehl, "From Linear to Nonlinear MPC: bridging the gap via the Real-Time 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 Real-Time Iteration},
      • journal = {International Journal of Control},
      • year = 2016
      • }
    •  D. Kouzoupis, R. Quirynen, B. Houska and M. Diehl, "A Block Based ALADIN Scheme for Highly Parallelizable Direct Optimal Control", Proceedings of the American Control Conference (ACC), 2016, pp. 1124-1129.
      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 = {1124--1129}
      • }
    •  D. Kouzoupis, R. Quirynen, F. Girrbach and M. Diehl, "An Efficient SQP Algorithm for Moving Horizon Estimation with Huber Penalties and Multi-Rate Measurements", Proceedings of the IEEE Multi-conference on Systems and Control (MSC), 2016, pp. 1482-1487.
      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 Multi-Rate Measurements},
      • booktitle = {Proceedings of the IEEE Multi-conference on Systems and Control (MSC)},
      • year = 2016,
      • pages = {1482--1487}
      • }
    •  D. Kouzoupis, R. Quirynen, J. Lago Garcia, M. Erhard and M. Diehl, "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
      • }
    •  R. Quirynen, B. Houska and M. Diehl, "Symmetric Hessian propagation for lifted collocation integrators in direct optimal control.", Proceedings of the American Control Conference (ACC), 2016, pp. 1117-1123.
      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 = {1117--1123}
      • }
    •  R. Quirynen, S. Gros and M. Diehl, "Inexact Newton-Type Optimization with Iterated Sensitivities", SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016-06-5502), 2016.
      BibTeX
      • @Article{Quirynen2016a,
      • author = {Quirynen, R. and Gros, S. and Diehl, M.},
      • title = {Inexact Newton-Type Optimization with Iterated Sensitivities},
      • journal = {SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016-06-5502)},
      • year = 2016
      • }
    •  R. Quirynen, S. Gros, B. Houska and M. Diehl, "Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit", Mathematical Programming Computation (accepted, preprint available at Optimization Online, 2016-05-5468), 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, 2016-05-5468)},
      • year = 2016
      • }
    •  R. Verschueren, N. van Duijkeren, R. Quirynen and M. Diehl, "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
      • }
    •  R. Verschueren, M. Zanon, R. Quirynen and M. Diehl, "Time-optimal 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 = {Time-optimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm},
      • booktitle = {Proceedings of the European Control Conference (ECC)},
      • year = 2016
      • }
    •  R. Verschueren, M. Zanon, R. Quirynen and M. Diehl, "A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control", SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016-06-5512), 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, 2016-06-5512)},
      • year = 2016
      • }
    •  A. Zanelli, R. Quirynen and M. Diehl, "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
      • }
    •  T. Albin, D. Ritter, D. Abel, N. Liberda, R. Quirynen and M. Diehl, "Nonlinear MPC for a Two-Stage Turbocharged Gasoline Engine Airpath", Proceedings of the IEEE Conference on Decision and Control (CDC), 2015, pp. 849-856.
      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 Two-Stage Turbocharged Gasoline Engine Airpath},
      • booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
      • year = 2015,
      • pages = {849--856}
      • }
    •  D. Kouzoupis, R. Quirynen, J. V. Frasch and M. Diehl, "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. 26-31.
      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 = {26--31}
      • }
    •  R. Quirynen, M. Zanon, A. Kozma and M. Diehl, "A Compression Algorithm for Real-Time Distributed Nonlinear MPC", Proceedings of the European Control Conference (ECC), 2015, pp. 3422-3427.
      BibTeX
      • @Inproceedings{Quirynen2015,
      • author = {Quirynen, R. and Zanon, M. and Kozma, A. and Diehl, M.},
      • title = {A Compression Algorithm for Real-Time Distributed Nonlinear MPC},
      • booktitle = {Proceedings of the European Control Conference (ECC)},
      • year = 2015,
      • pages = {3422--3427}
      • }
    •  R. Quirynen, S. Gros and M. Diehl, "Lifted implicit integrators for direct optimal control", Proceedings of the IEEE Conference on Decision and Control (CDC), 2015, pp. 3212-3217.
      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 = {3212--3217}
      • }
    •  R. Quirynen, S. Gros and M. Diehl, "Inexact Newton based Lifted Implicit Integrators for fast Nonlinear MPC", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015, pp. 32-38.
      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 = {32--38}
      • }
    •  R. Quirynen, M. Vukov and M. Diehl, "Multiple Shooting in a Microsecond" in Multiple Shooting and Time Domain Decomposition Methods, pp. 183-201, 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 = {183--201},
      • publisher = {Springer}
      • }
    •  R. Schmied, H. Waschl, R. Quirynen, M. Diehl and L. del Re, "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
      • }
    •  F. Debrouwere, M. Vukov, R. Quirynen, M. Diehl and J. Swevers, "Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane", Proceedings of the IFAC World Congress, 2014, pp. 9617-9622.
      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 = {9617--9622}
      • }
    •  S. Gros, R. Quirynen and M. Diehl, "An Improved Real-time NMPC Scheme for Wind Turbine Control using Spline-Interpolated 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 Real-time NMPC Scheme for Wind Turbine Control using Spline-Interpolated Aerodynamic Coefficients},
      • booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
      • year = 2014
      • }
    •  S. Mehrkanoon, R. Quirynen, M. Diehl and J. AK Suykens, "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
      • }
    •  R. Quirynen, M. Vukov, M. Zanon and M. Diehl, "Autogenerating Microsecond Solvers for Nonlinear MPC: a Tutorial Using ACADO Integrators", Optimal Control Applications and Methods, Vol. 36, pp. 685-704, 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 = {685--704}
      • }
    •  R. Quirynen, B. Houska, M. Vallerio, D. Telen, F. Logist, J. Van Impe and M. Diehl, "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. 2752-2757.
      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 = {2752--2757}
      • }
    •  D. Telen, F. Logist, R. Quirynen, B. Houska, M. Diehl and J. Van Impe, "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. 1728-1739, 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 = {1728--1739}
      • }
    •  R. Quirynen, S. Gros and M. Diehl, "Fast auto generated ACADO integrators and application to MHE with multi-rate measurements", Proceedings of the European Control Conference (ECC), 2013, pp. 3077-3082.
      BibTeX
      • @Inproceedings{Quirynen2013,
      • author = {Quirynen, R. and Gros, S. and Diehl, M.},
      • title = {Fast auto generated ACADO integrators and application to MHE with multi-rate measurements},
      • booktitle = {Proceedings of the European Control Conference (ECC)},
      • year = 2013,
      • pages = {3077--3082}
      • }
    •  R. Quirynen, S. Gros and M. Diehl, "Efficient NMPC for nonlinear models with linear subsystems", Proceedings of the IEEE Conference on Decision and Control (CDC), 2013, pp. 5101-5106.
      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 = {5101--5106}
      • }
    •  S. Gros, R. Quirynen and M. Diehl, "Aircraft Control Based on Fast Nonlinear MPC & Multiple-shooting", 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 & Multiple-shooting},
      • booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
      • year = 2012
      • }
    •  R. Quirynen, "Automatic code generation of Implicit Runge-Kutta integrators with continuous output for fast embedded optimization", 2012, KU Leuven.
      BibTeX
      • @Mastersthesis{Quirynen2012,
      • author = {Quirynen, R.},
      • title = {Automatic code generation of Implicit Runge-Kutta integrators with continuous output for fast embedded optimization},
      • school = {KU Leuven},
      • year = 2012
      • }
    •  R. Quirynen, M. Vukov and M. Diehl, "Auto Generation of Implicit Integrators for Embedded NMPC with Microsecond Sampling Times", Proceedings of the 4th IFAC Nonlinear Model Predictive Control Conference, 2012, pp. 175-180.
      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 = {175--180}
      • }
  • Videos

  • MERL Issued Patents

    • Title: "Controller with Early Termination in Mixed-Integer Optimal Control Optimization"
      Inventors: Quirynen, Rien; Di Cairano, Stefano; Liang, Jiaming
      Patent No.: 11,340,899
      Issue Date: May 24, 2022
    • Title: "Nonlinear Optimization Method for Stochastic Predictive Control"
      Inventors: Quirynen, Rien; Feng, Xuhui; Di Cairano, Stefano
      Patent No.: 11,327,449
      Issue Date: May 10, 2022
    • Title: "Friction Adaptive Vehicle Control"
      Inventors: Berntorp, Karl; Quirynen, Rien; Di Cairano, Stefano
      Patent No.: 11,254,315
      Issue Date: Feb 22, 2022
    • Title: "Method and System for Determining Driver Intention in Semi-Autonomous Vehicle Steering"
      Inventors: Kalabic, Uros; Quirynen, Rien; Di Cairano, Stefano
      Patent No.: 11,167,795
      Issue Date: Nov 9, 2021
    • Title: "Active Set based Interior Point Optimization Method for Predictive Control"
      Inventors: Quirynen, Rien; Frey, Jonathan; Di Cairano, Stefano
      Patent No.: 11,163,273
      Issue Date: Nov 2, 2021
    • Title: "System and Method for Data-Driven Control of Constrained System"
      Inventors: Chakrabarty, Ankush; Quirynen, Rien; Danielson, Claus; Gao, Weinan
      Patent No.: 11,106,189
      Issue Date: Aug 31, 2021
    • Title: "Model Predictive Control of Systems with Continuous and Discrete Elements of Operations"
      Inventors: Quirynen, Rien; Hespanhol, Pedro; Di Cairano, Stefano
      Patent No.: 10,996,639
      Issue Date: May 4, 2021
    • 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 Quasi-Newton Jacobian Updates for Nonlinear Predictive Control"
      Inventors: Quirynen, Rien; Hespanhol, Pedro
      Patent No.: 10,409,233
      Issue Date: Sep 10, 2019
    See All Patents for MERL