Publications

• Distributed model predictive control with reconfigurable terminal ingredients for reference tracking
  A. Aboudonia, A. Eichler, F. Cordiano, G. Banjac and J. Lygeros
  IEEE Transactions on Automatic Control, 2022.
  BibTeX  URL  Preprint 

  @article{Aboudonia2022:TAC,
    author = {A. Aboudonia and A. Eichler and F. Cordiano and G. Banjac and J. Lygeros},
    title = {Distributed model predictive control with reconfigurable terminal ingredients for reference tracking},
    journal = {IEEE Transactions on Automatic Control},
    year = {2022},
    url = {https://doi.org/10.1109/TAC.2021.3133494},
    doi = {10.1109/TAC.2021.3133494}
  }
  

  
  

• Accelerating quadratic optimization with reinforcement learning
  J. Ichnowski, P. Jain, B. Stellato, G. Banjac, M. Luo, J. Gonzalez, I. Stoica, F. Borrelli and K. Goldberg
  in Advances in Neural Information Processing Systems (NeurIPS), December 2021.
  BibTeX  URL  Code 

  @inproceedings{Ichnowski2021:NeurIPS,
    author = {J. Ichnowski and P. Jain and B. Stellato and G. Banjac and M. Luo and J. Gonzalez and I. Stoica and F. Borrelli and K. Goldberg},
    title = {Accelerating quadratic optimization with reinforcement learning},
    booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    year = {2021},
    url = {https://papers.nips.cc/paper/2021/file/afdec7005cc9f14302cd0474fd0f3c96-Paper.pdf}
  }
  

  
  

• On the asymptotic behavior of the Douglas-Rachford and proximal-point algorithms for convex optimization
  G. Banjac and J. Lygeros
  Optimization Letters, vol. 15, no. 8, pp. 2719-2732, November 2021.
  BibTeX  URL 

  @article{Banjac2021:OPTL,
    author = {G. Banjac and J. Lygeros},
    title = {On the asymptotic behavior of the {D}ouglas-{R}achford and proximal-point algorithms for convex optimization},
    journal = {Optimization Letters},
    year = {2021},
    volume = {15},
    number = {8},
    pages = {2719-2732},
    url = {https://doi.org/10.1007/s11590-021-01706-3},
    doi = {10.1007/s11590-021-01706-3}
  }
  

  
  

• Efficient performance bounds for primal-dual reinforcement learning from demonstrations
  A. Kamoutsi, G. Banjac and J. Lygeros
  in International Conference on Machine Learning (ICML), July 2021.
  BibTeX  URL 

  @inproceedings{Kamoutsi2021:ICML,
    author = {A. Kamoutsi and G. Banjac and J. Lygeros},
    title = {Efficient performance bounds for primal-dual reinforcement learning from demonstrations},
    booktitle = {International Conference on Machine Learning (ICML)},
    year = {2021},
    url = {https://proceedings.mlr.press/v139/kamoutsi21a/kamoutsi21a-supp.pdf}
  }
  

  
  

• On the minimal displacement vector of the Douglas-Rachford operator
  G. Banjac
  Operations Research Letters, vol. 49, no. 2, pp. 197-200, March 2021.
  BibTeX  URL  Preprint 

  @article{Banjac2021:ORL,
    author = {G. Banjac},
    title = {On the minimal displacement vector of the {D}ouglas-{R}achford operator},
    journal = {Operations Research Letters},
    year = {2021},
    volume = {49},
    number = {2},
    pages = {197-200},
    url = {https://doi.org/10.1016/j.orl.2021.01.003},
    doi = {10.1016/j.orl.2021.01.003}
  }
  

  
  

• Improving tractability of real-time control schemes via simplified S-lemma
  G. Banjac, J. Zhen, D. den Hertog and J. Lygeros
  December 2020.
  BibTeX  Preprint 

  @article{Banjac2020:arxiv,
    author = {G. Banjac and J. Zhen and D. den Hertog and J. Lygeros},
    title = {Improving tractability of real-time control schemes via simplified {S}-lemma},
    year = {2020}
  }
  

  
  

• OSQP: an operator splitting solver for quadratic programs
  B. Stellato, G. Banjac, P. Goulart, A. Bemporad and S. Boyd
  Mathematical Programming Computation, vol. 12, no. 4, pp. 637-672, December 2020.
  BibTeX  URL  Preprint  Code  MPC Best Paper of the Year 

  @article{Stellato2020:MPC,
    author = {B. Stellato and G. Banjac and P. Goulart and A. Bemporad and S. Boyd},
    title = {{OSQP}: an operator splitting solver for quadratic programs},
    journal = {Mathematical Programming Computation},
    year = {2020},
    volume = {12},
    number = {4},
    pages = {637-672},
    url = {https://doi.org/10.1007/s12532-020-00179-2},
    doi = {10.1007/s12532-020-00179-2}
  }
  

  
  

• GPU acceleration of ADMM for large-scale quadratic programming
  M. Schubiger, G. Banjac and J. Lygeros
  Journal of Parallel and Distributed Computing, vol. 144, pp. 55-67, October 2020.
  BibTeX  URL  Code 

  @article{Schubiger2020:JPDC,
    author = {M. Schubiger and G. Banjac and J. Lygeros},
    title = {{GPU} acceleration of {ADMM} for large-scale quadratic programming},
    journal = {Journal of Parallel and Distributed Computing},
    year = {2020},
    volume = {144},
    pages = {55-67},
    url = {https://doi.org/10.1016/j.jpdc.2020.05.021},
    doi = {10.1016/j.jpdc.2020.05.021}
  }
  

  
  

• Real-time solution to quadratically constrained quadratic programs for predictive converter control
  Z. Chen, R. Verschueren, S. Almér and G. Banjac
  in IFAC World Congress, Berlin, Germany, July 2020.
  BibTeX  URL 

  @inproceedings{Chen2020:IFAC,
    author = {Z. Chen and R. Verschueren and S. Alm{\'e}r and G. Banjac},
    title = {Real-time solution to quadratically constrained quadratic programs for predictive converter control},
    booktitle = {IFAC World Congress},
    year = {2020},
    url = {https://doi.org/10.1016/j.ifacol.2020.12.252},
    doi = {10.1016/j.ifacol.2020.12.252}
  }
  

  
  

• A data-driven policy iteration scheme based on linear programming
  G. Banjac and J. Lygeros
  in IEEE Conference on Decision and Control (CDC), Nice, France, December 2019.
  BibTeX  URL 

  @inproceedings{Banjac2019:CDC,
    author = {G. Banjac and J. Lygeros},
    title = {A data-driven policy iteration scheme based on linear programming},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2019},
    url = {https://doi.org/10.1109/CDC40024.2019.9029405},
    doi = {10.1109/CDC40024.2019.9029405}
  }
  

  
  

• Stochastic convex optimization for provably efficient apprenticeship learning
  A. Kamoutsi, G. Banjac and J. Lygeros
  in NeurIPS 2019 Optimization Foundations for Reinforcement Learning Workshop, Vancouver, Canada, December 2019.
  BibTeX  Preprint 

  @inproceedings{Kamoutsi2019:NIPS,
    author = {A. Kamoutsi and G. Banjac and J. Lygeros},
    title = {Stochastic convex optimization for provably efficient apprenticeship learning},
    booktitle = {NeurIPS 2019 Optimization Foundations for Reinforcement Learning Workshop},
    year = {2019}
  }
  

  
  

• Infeasibility detection in the alternating direction method of multipliers for convex optimization
  G. Banjac, P. Goulart, B. Stellato and S. Boyd
  Journal of Optimization Theory and Applications, vol. 183, no. 2, pp. 490-519, November 2019.
  BibTeX  URL  Preprint 

  @article{Banjac2019:JOTA,
    author = {G. Banjac and P. Goulart and B. Stellato and S. Boyd},
    title = {Infeasibility detection in the alternating direction method of multipliers for convex optimization},
    journal = {Journal of Optimization Theory and Applications},
    year = {2019},
    volume = {183},
    number = {2},
    pages = {490-519},
    url = {https://doi.org/10.1007/s10957-019-01575-y},
    doi = {10.1007/s10957-019-01575-y}
  }
  

  
  

• Decentralized resource allocation via dual consensus ADMM
  G. Banjac, F. Rey, P. Goulart and J. Lygeros
  in American Control Conference (ACC), Philadelphia, PA, USA, July 2019.
  BibTeX  URL  Preprint 

  @inproceedings{Banjac2019:ACC,
    author = {G. Banjac and F. Rey and P. Goulart and J. Lygeros},
    title = {Decentralized resource allocation via dual consensus {ADMM}},
    booktitle = {American Control Conference (ACC)},
    year = {2019},
    url = {https://doi.org/10.23919/ACC.2019.8814988},
    doi = {10.23919/ACC.2019.8814988}
  }
  

  
  

• Tight global linear convergence rate bounds for operator splitting methods
  G. Banjac and P. Goulart
  IEEE Transactions on Automatic Control, vol. 63, no. 12, pp. 4126-4139, December 2018.
  BibTeX  URL 

  @article{Banjac2018b:TAC,
    author = {G. Banjac and P. Goulart},
    title = {Tight global linear convergence rate bounds for operator splitting methods},
    journal = {IEEE Transactions on Automatic Control},
    year = {2018},
    volume = {63},
    number = {12},
    pages = {4126-4139},
    url = {https://doi.org/10.1109/TAC.2018.2808442},
    doi = {10.1109/TAC.2018.2808442}
  }
  

  
  

• On the convergence of a regularized Jacobi algorithm for convex optimization
  G. Banjac, K. Margellos and P. Goulart
  IEEE Transactions on Automatic Control, vol. 63, no. 4, pp. 1113-1119, April 2018.
  BibTeX  URL 

  @article{Banjac2018a:TAC,
    author = {G. Banjac and K. Margellos and P. Goulart},
    title = {On the convergence of a regularized {J}acobi algorithm for convex optimization},
    journal = {IEEE Transactions on Automatic Control},
    year = {2018},
    volume = {63},
    number = {4},
    pages = {1113-1119},
    url = {https://doi.org/10.1109/TAC.2017.2737319},
    doi = {10.1109/TAC.2017.2737319}
  }
  

  
  

• Embedded code generation using the OSQP solver
  G. Banjac, B. Stellato, N. Moehle, P. Goulart, A. Bemporad and S. Boyd
  in IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017.
  BibTeX  URL  Code 

  @inproceedings{Banjac2017:CDC,
    author = {G. Banjac and B. Stellato and N. Moehle and P. Goulart and A. Bemporad and S. Boyd},
    title = {Embedded code generation using the {OSQP} solver},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2017},
    url = {https://doi.org/10.1109/CDC.2017.8263928},
    doi = {10.1109/CDC.2017.8263928}
  }
  

  
  

• A novel approach for solving convex problems with cardinality constraints
  G. Banjac and P. Goulart
  in IFAC World Congress, Toulouse, France, July 2017.
  BibTeX  URL 

  @inproceedings{Banjac2017:IFAC,
    author = {G. Banjac and P. Goulart},
    title = {A novel approach for solving convex problems with cardinality constraints},
    booktitle = {IFAC World Congress},
    year = {2017},
    url = {https://doi.org/10.1016/j.ifacol.2017.08.2174},
    doi = {10.1016/j.ifacol.2017.08.2174}
  }
  

  
  

• Global linear convergence in operator splitting methods
  G. Banjac and P. Goulart
  in IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, December 2016.
  BibTeX  URL 

  @inproceedings{Banjac2016:CDC,
    author = {G. Banjac and P. Goulart},
    title = {Global linear convergence in operator splitting methods},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2016},
    url = {https://doi.org/10.1109/CDC.2016.7798275},
    doi = {10.1109/CDC.2016.7798275}
  }
  

  
  

• Adaptable urban water demand prediction system
  G. Banjac, M. Vašak and M. Baotić
  Water Science and Technology: Water Supply, vol. 15, no. 5, pp. 958-964, October 2015.
  BibTeX  URL 

  @article{Banjac2015:WST,
    author = {G. Banjac and M. Va\v{s}ak and M. Baoti{\'c}},
    title = {Adaptable urban water demand prediction system},
    journal = {Water Science and Technology: Water Supply},
    year = {2015},
    volume = {15},
    number = {5},
    pages = {958-964},
    url = {https://doi.org/10.2166/ws.2015.048},
    doi = {10.2166/ws.2015.048}
  }
  

  
  

• Water use disaggregation based on classification of feature vectors extracted from smart meter data
  M. Vašak, G. Banjac and H. Novak
  in Computing and Control for the Water Industry Conference, Leicester, UK, September 2015.
  BibTeX  URL 

  @inproceedings{Vasak2015:CCWI,
    author = {M. Va\v{s}ak and G. Banjac and H. Novak},
    title = {Water use disaggregation based on classification of feature vectors extracted from smart meter data},
    booktitle = {Computing and Control for the Water Industry Conference},
    year = {2015},
    url = {https://doi.org/10.1016/j.proeng.2015.08.992},
    doi = {10.1016/j.proeng.2015.08.992}
  }
  

  
  

• Dynamic day-ahead water pricing based on smart metering and demand prediction
  M. Vašak, G. Banjac, M. Baotić and J. Matuško
  in Conference on Water Distribution System Analysis, Bari, Italy, July 2014.
  BibTeX  URL 

  @inproceedings{Vasak2014:WDSA,
    author = {M. Va\v{s}ak and G. Banjac and M. Baoti{\'c} and J. Matu\v{s}ko},
    title = {Dynamic day-ahead water pricing based on smart metering and demand prediction},
    booktitle = {Conference on Water Distribution System Analysis},
    year = {2014},
    url = {https://doi.org/10.1016/j.proeng.2014.11.221},
    doi = {10.1016/j.proeng.2014.11.221}
  }
  

  
  

• Load forecast of a university building for application in microgrid power flow optimization
  M. Gulin, M. Vašak, G. Banjac and T. Tomiša
  in IEEE International Energy Conference, Dubrovnik, Croatia, May 2014.
  BibTeX  URL 

  @inproceedings{Gulin2014:ENERGYCON,
    author = {M. Gulin and M. Va\v{s}ak and G. Banjac and T. Tomi\v{s}a},
    title = {Load forecast of a university building for application in microgrid power flow optimization},
    booktitle = {IEEE International Energy Conference},
    year = {2014},
    url = {https://doi.org/10.1109/ENERGYCON.2014.6850579},
    doi = {10.1109/ENERGYCON.2014.6850579}
  }
  

  
  

• Tuning of model predictive controller for wind turbine load reduction
  G. Banjac, V. Spudić and M. Baotić
  in International Convention on Information and Communication Technology, Electronics and Microelectronics, Opatija, Croatia, May 2013.
  BibTeX  URL 

  @inproceedings{Banjac2013:MIPRO,
    author = {G. Banjac and V. Spudi{\'c} and M. Baoti{\'c}},
    title = {Tuning of model predictive controller for wind turbine load reduction},
    booktitle = {International Convention on Information and Communication Technology, Electronics and Microelectronics},
    year = {2013},
    url = {https://ieeexplore.ieee.org/document/6596388}
  }