Hans Georg Bock and Karl-Josef Plitt. A multiple shooting algorithm for direct solution of optimal control problems. In Proceedings of the IFAC World Congress, 1984.

M. Frigerio, J. Buchli, and D.G. Caldwell. Code generation of algebraic quantities for robot controllers. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Oct 2012.

Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, and Jonas Buchli. Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation. Advanced Robotics, November 2017.

Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, and Jonas Buchli. Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control. In IEEE International Conference on Robotics and Automation (ICRA), 2017.

Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli, and Moritz Diehl. A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control. IROS 2018, 2018.

Michael Neunert, Cédric de Crousaz, Fadri Furrer, Mina Kamel, Farbod Farshidian, Roland Siegwart, and Jonas Buchli. Fast nonlinear model predictive control for unified trajectory optimization and tracking. In IEEE International Conference on Robotics and Automation (ICRA), 2016.

Michael Neunert, Markus Giftthaler, Marco Frigerio, Claudio Semini, and Jonas Buchli. Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation. In 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2016), San Francisco, 2016.

Michael Neunert, Farbod Farshidian, Alexander W. Winkler, and Jonas Buchli. Trajectory optimization through contacts and automatic gait discovery for quadrupeds. IEEE Robotics and Automation Letters (RA-L), 2017.

Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, and Jonas Buchli. Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds, 2017. IEEE Robotics and Automation Letters.

Athanasios Sideris and James E Bobrow. An efficient sequential linear quadratic algorithm for solving nonlinear optimal control problems. Transactions on Automatic Control, 50(12):2043–2047, 2005.

Emanuel Todorov and Weiwei Li. A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems. In American Control Conference, 2005. Proceedings of the 2005, pages 300–306. IEEE, 2005.