@inbook{17411, abstract = {{Many dynamical systems possess symmetries, e.g. rotational and translational invariances of mechanical systems. These can be beneficially exploited in the design of numerical optimal control methods. We present a model predictive control scheme which is based on a library of precomputed motion primitives. The primitives are equivalence classes w.r.t. the symmetry of the optimal control problems. Trim primitives as relative equilibria w.r.t. this symmetry, play a crucial role in the algorithm. The approach is illustrated using an academic mobile robot example.}}, author = {{Flaßkamp, Kathrin and Ober-Blöbaum, Sina and Peitz, Sebastian}}, booktitle = {{Advances in Dynamics, Optimization and Computation}}, editor = {{Junge, Oliver and Schütze, Oliver and Froyland, Gary and Ober-Blöbaum, Sina and Padberg-Gehle, Kathrin}}, isbn = {{9783030512637}}, issn = {{2198-4182}}, publisher = {{Springer}}, title = {{{Symmetry in Optimal Control: A Multiobjective Model Predictive Control Approach}}}, doi = {{10.1007/978-3-030-51264-4_9}}, year = {{2020}}, }