  This paper presents the acados software package, a collection of solvers for
fast embedded optimization intended for fast embedded applications. Its
interfaces to higher-level languages make it useful for quickly designing an
optimization-based control algorithm by putting together different algorithmic
components that can be readily connected and interchanged. Since the core of
acados is written on top of a high-performance linear algebra library, we do
not sacrifice computational performance. Thus, we aim to provide both
flexibility and performance through modularity, without the need to rely on
automatic code generation, which facilitates maintainability and extensibility.
The main features of acados are: efficient optimal control algorithms targeting
embedded devices implemented in C, linear algebra based on the high-performance
BLASFEO library, user-friendly interfaces to Matlab and Python, and
compatibility with the modeling language of CasADi. acados is free and
open-source software released under the permissive BSD 2-Clause license.
