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Sponsored AI Networking Cookbook: Practical recipes for AI-assisted network automation and development AI Networking Cookbook: Practical recipes for AI-assisted network automation and development

Author

Alberto Zaupa

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Preprint Sep 2026

DAOCP: a dual active set solver for optimal control problems

We present DAOCP, a dual active set solver for linear quadratic optimal control problems with stage-wise equality and inequality constraints. Active set methods are leading Model Predictive Control benchmarks for full-body robotics, but existing solvers operate on dense QPs, while typical problem dimensions favor metho...

Alberto Zaupa, Samuel Erickson, Mikael Johansson · 0 citations

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