Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Modular Framework for Distributed Model Predictive Control of
  Nonlinear Continuous-Time Systems (GRAMPC-D)   The modular open-source framework GRAMPC-D for model predictive control of
distributed systems is presented in this paper. The modular concept allows to
solve optimal control problems (OCP) in a centralized and distributed fashion
using the same problem description. It is tailored to computational efficiency
with the focus on embedded hardware. The distributed solution is based on the
Alternating Direction Method of Multipliers (ADMM) and uses the concept of
neighbor approximation to enhance convergence speed. The presented framework
can be accessed through Cpp and Python and also supports plug-and-play and data
exchange between agents over a network.

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The categories of this paper are: physics
27
The categories of this paper are: comp-gas
22
The categories of this paper are: chao-dyn
37
The categories of this paper are: supr-con
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The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
26
The categories of this paper are: bayes-an
25
The categories of this paper are: patt-sol
15
The categories of this paper are: nucl-ex
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The categories of this paper are: solv-int
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The categories of this paper are: stat
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The categories of this paper are: math
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The categories of this paper are: alg-geom
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The categories of this paper are: math-ph
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The categories of this paper are: adap-org
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The categories of this paper are: nlin