Journal
MATHEMATICAL PROGRAMMING COMPUTATION
Volume 11, Issue 1, Pages 1-36Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s12532-018-0139-4
Keywords
Optimization; Optimal control; Open source optimization software
Categories
Funding
- K.U. Leuven Research Council [CoE EF/05/006]
- Flemish Government via FWO
- Belgian State via Science Policy programming (IAP VII, DYSCO)
- European Union [223854, 248940, 259166, 607957, 642682]
- Helmholtz Association via vICERP
- German Federal Ministry for Economic Affairs and Energy (BMWi)
- German Research Foundation (DFG) [FOR 2401]
- Flanders Make via MBSE4M
- Flanders Make via Drivetrain Co-design
- Flanders Make via Concept design
- Marie Curie Actions (MSCA) [642682] Funding Source: Marie Curie Actions (MSCA)
- European Research Council (ERC) [259166] Funding Source: European Research Council (ERC)
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We present CasADi, an open-source software framework for numerical optimization. CasADi is a general-purpose tool that can be used to model and solve optimization problems with a large degree of flexibility, larger than what is associated with popular algebraic modeling languages such as AMPL, GAMS, JuMP or Pyomo. Of special interest are problems constrained by differential equations, i.e. optimal control problems. CasADi is written in self-contained C++, but is most conveniently used via full-featured interfaces to Python, MATLAB or Octave. Since its inception in late 2009, it has been used successfully for academic teaching as well as in applications from multiple fields, including process control, robotics and aerospace. This article gives an up-to-date and accessible introduction to the CasADi framework, which has undergone numerous design improvements over the last 7 years.
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