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.

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  • 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.

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  • MERL Publications

    •  Wang, Z., Ahmad, A., Quirynen, R., Wang, Y., Bhagat, A., Zeino, E., Zushi, Y., Di Cairano, S., "Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver", IEEE Conference on Control Technology and Applications (CCTA), August 2022.
      BibTeX TR2022-109 PDF
      • @inproceedings{Wang2022aug,
      • author = {Wang, Zejiang and Ahmad, Ahmad and Quirynen, Rien and Wang, Yebin and Bhagat, Akshay and Zeino, Eyad and Zushi, Yuji and Di Cairano, Stefano},
      • title = {Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver},
      • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
      • year = 2022,
      • month = aug,
      • url = {https://www.merl.com/publications/TR2022-109}
      • }
    •  Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles", American Control Conference (ACC), June 2022.
      BibTeX TR2022-065 PDF
      • @inproceedings{Vaskov2022jun,
      • author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
      • title = {Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles},
      • booktitle = {American Control Conference (ACC)},
      • year = 2022,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2022-065}
      • }
    •  Firoozi, R., Quirynen, R., Di Cairano, S., "Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic", American Control Conference (ACC), June 2022.
      BibTeX TR2022-059 PDF
      • @inproceedings{Firoozi2022jun,
      • author = {Firoozi, Roya and Quirynen, Rien and Di Cairano, Stefano},
      • title = {Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic},
      • booktitle = {American Control Conference (ACC)},
      • year = 2022,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2022-059}
      • }
    •  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), DOI: 10.1109/​ICRA46639.2022.9812259, May 2022, pp. 7270-7276.
      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)},
      • year = 2022,
      • pages = {7270--7276},
      • month = may,
      • publisher = {IEEE},
      • doi = {10.1109/ICRA46639.2022.9812259},
      • isbn = {978-1-7281-9681-7},
      • 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, pp. 34-46.
      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,
      • pages = {34--46},
      • month = apr,
      • publisher = {Proceedings of Machine Learning Research (PMLR)},
      • url = {https://www.merl.com/publications/TR2022-039}
      • }
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  • Other Publications

    •  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
      • }
    •  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}
      • }
    •  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
      • }
    •  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, 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
      • }
    •  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: "Adaptive Control of Autonomous or Semi-Autonomous Vehicle"
      Inventors: Quirynen, Rien; Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 11,411,521
      Issue Date: Aug 9, 2022
    • 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