{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T16:41:21Z","timestamp":1776530481375,"version":"3.51.2"},"reference-count":74,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3595674","type":"journal-article","created":{"date-parts":[[2025,8,4]],"date-time":"2025-08-04T18:48:18Z","timestamp":1754333298000},"page":"4960-4974","source":"Crossref","is-referenced-by-count":5,"title":["Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5552-9898","authenticated-orcid":false,"given":"Armand","family":"Jordana","sequence":"first","affiliation":[{"name":"Machines in Motion Laboratory, New York University, New York, NY, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9025-6143","authenticated-orcid":false,"given":"S\u00e9bastien","family":"Kleff","sequence":"additional","affiliation":[{"name":"Machines in Motion Laboratory, New York University, New York, NY, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7742-3130","authenticated-orcid":false,"given":"Avadesh","family":"Meduri","sequence":"additional","affiliation":[{"name":"Machines in Motion Laboratory, New York University, New York, NY, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6585-2894","authenticated-orcid":false,"given":"Justin","family":"Carpentier","sequence":"additional","affiliation":[{"name":"Inria - Département d’Informatique de l’École normale supérieure, PSL Research University, Paris, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8090-0601","authenticated-orcid":false,"given":"Nicolas","family":"Mansard","sequence":"additional","affiliation":[{"name":"LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6458-9112","authenticated-orcid":false,"given":"Ludovic","family":"Righetti","sequence":"additional","affiliation":[{"name":"Machines in Motion Laboratory, New York University, New York, NY, USA"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560990"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3228390"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800124"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068908"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353843"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids53995.2022.10000129"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1080\/00207176608921369"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.5220\/0001143902220229"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1470308"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907001"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206457"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593840"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967788"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196673"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340883"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561530"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-022-10061-w"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811647"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981586"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2023.12.073"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/b98874"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/0167-8191(90)90060-M"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2017934"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6426855"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2231960"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s10013-018-0311-1"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.073"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-021-00208-8"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/BF00934463"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.23919\/ECC57647.2023.10178367"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968251"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)61205-9"},{"key":"ref33","article-title":"Advantages of differential dynamic programming over newtons method for discrete-time optimal control problems","author":"Liao","year":"1992"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3066969"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/BF00940728"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1080\/00207179108953650"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-08-030574-5.50016-7"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022635205221"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/BF00940784"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-0348-8497-6_17"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1023\/A:1021711402723"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1287\/ijoc.10.2.218"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1023\/A:1021733425632"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1251"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2010.5530453"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10611249"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610987"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/iros55552.2023.10342336"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3275384"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3185772"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.3390\/robotics12010006"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2023.105769"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2023.2168134"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-020-00179-2"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(99)00214-9"},{"key":"ref59","article-title":"Tridiagonal matrices: Thomas algorithm","author":"Lee","year":"2011","journal-title":"MS6021 Sci. Comput. Univ. Limerick"},{"key":"ref60","article-title":"Lecture notes on optimal control and estimation","author":"Diehl","year":"2014","journal-title":"Lecture Notes Optimal Control Estimation"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1137\/0801037"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-015-0081-7"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1007\/s10589-018-0001-7"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2022.3147017"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"ref66","article-title":"General rights algorithms and methods for high-performance model predictive control","author":"Frison","year":"2015"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1007\/s101070100244"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_4"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2019.8700380"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2976639"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1145\/3210754"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2022.xviii.040"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/cdc49753.2023.10383915"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811562"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/10778592\/11112619-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/11112619.pdf?arnumber=11112619","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,28]],"date-time":"2025-08-28T18:12:04Z","timestamp":1756404724000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11112619\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":74,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3595674","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}