acados—a modular open-source framework for fast embedded optimal control - Verschueren, Robin; Frison, Gianluca; Kouzoupis, Dimitris; Frey, Jonathan; Duijkeren, Niels van; Zanelli, Andrea; Novoselnik, Branimir; Albin, Thivaharan; Quirynen, Rien; Diehl, Moritz (Mathematical programming computation, 2022)