{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,26]],"date-time":"2026-10-26T17:14:51Z","timestamp":1793034891970,"version":"4.5.0"},"reference-count":35,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Utah NASA Space"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1109\/lra.2020.2965393","type":"journal-article","created":{"date-parts":[[2020,1,9]],"date-time":"2020-01-09T20:59:18Z","timestamp":1578603558000},"page":"1468-1475","source":"Crossref","is-referenced-by-count":37,"title":["Real-Time Nonlinear Model Predictive Control of Robots Using a Graphics Processing Unit"],"prefix":"10.1109","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2705-2631","authenticated-orcid":false,"given":"Phillip","family":"Hyatt","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9372-104X","authenticated-orcid":false,"given":"Marc D.","family":"Killpack","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.2514\/6.2008-7256"},{"key":"ref32","author":"thrun","year":"2005","journal-title":"Probabilistic Robotics"},{"key":"ref31","article-title":"Automatic differentiation in pytorch","author":"paszke","year":"0","journal-title":"Proc NIPS-W"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24574-4_28"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2878228"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref12","article-title":"A family of iterative gauss-newton shooting methods for nonlinear optimal control","author":"giftthaler","year":"2017"},{"key":"ref13","article-title":"Whole-body nonlinear model predictive control through contacts for quadrupeds","author":"neunert","year":"2017"},{"key":"ref14","article-title":"A performance analysis of parallel differential dynamic programming on a GPU","author":"plancher","year":"0","journal-title":"Proc Int Workshop Algorithmic Found Robot"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2904240"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-013-0061-8"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1145\/3038228.3038234"},{"key":"ref18","article-title":"Sparse Convex Optimization on GPUs","author":"maggioni","year":"2015","journal-title":"thesis"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487277"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.012"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2580591"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487175"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363544"},{"key":"ref6","first-page":"222","article-title":"Iterative linear quadratic regulator design for nonlinear biological movement systems","author":"li","year":"0","journal-title":"Proc First Int Conf Informat Control Autom Robot"},{"key":"ref29","article-title":"Design optimization and motion planning for pneumatically-actuated manipulators","author":"bodily","year":"2017"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246876"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1469949"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907001"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2017934"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353843"},{"key":"ref1","article-title":"Analysis of the behavior of a class of genetic adaptive systems","author":"jong","year":"1975"},{"key":"ref20","first-page":"8","article-title":"Model predictive path integral control using covariance variable importance sampling","author":"williams","year":"2015"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2019.2915002"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.2514\/1.59782"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2018.8404894"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246929"},{"key":"ref26","first-page":"1071","article-title":"Learning neural network policies with guided policy search under unknown dynamics","author":"levine","year":"0","journal-title":"Proc Advances Neural Inf Process Syst"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00022"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/8932682\/08954784.pdf?arnumber=8954784","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T17:33:00Z","timestamp":1651080780000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8954784\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4]]},"references-count":35,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2020.2965393","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4]]}}}