Related papers: Positivity certificates in optimal control
In a first contribution, we revisit two certificates of positivity on (possibly non-compact) basic semialgebraic sets due to Putinar and Vasilescu [Comptes Rendus de l'Acad\'emie des Sciences-Series I-Mathematics, 328(6) (1999) pp.…
An optimal control problem on finite-dimensional positive cones is stated. Under a critical assumption on the cone, the corresponding Bellman equation is satisfied by a linear function, which can be computed by convex optimization. A…
We describe algebraic certificates of positivity for functions belonging to a finitely generated algebra of Borel measurable functions, with particular emphasis to algebras generated by semi-algebraic functions. In which case the standard…
Internal positivity offers a computationally cheap certificate for external (input-output) positivity of a linear time-invariant system. However, the drawback with this certificate lies in its realization dependency. Firstly, computing such…
Converging hierarchies of finite-dimensional semi-definite relaxations have been proposed for state-constrained optimal control problems featuring oscillation phe-nomena, by relaxing controls as Young measures. These semi-definite…
This survey contains a selection of topics unified by the concept of positive semi-definiteness (of matrices or kernels), reflecting natural constraints imposed on discrete data (graphs or networks) or continuous objects (probability or…
Inspired by branch-and-bound and cutting plane proofs in mixed-integer optimization and proof complexity, we develop a general approach via Hoffman's Helly systems. This helps to distill the main ideas behind optimality and infeasibility…
In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
Why is it that semidefinite relaxations have been so successful in numerous applications in computer vision and robotics for solving non-convex optimization problems involving rotations? In studying the empirical performance we note that…
In this series of lectures, we would like to introduce the audience to quantum optimal control. The first lecture will cover basic ideas and principles of optimal control with the goal of demystifying its jargon. The second lecture will…
Semidefinite relaxations of polynomial optimization have become a central tool for addressing the non-convex optimization problems over non-commutative operators that are ubiquitous in quantum information theory and, more in general,…
Nonnegativity certificates can be used to obtain tight dual bounds for polynomial optimization problems. Hierarchies of certificate-based relaxations ensure convergence to the global optimum, but higher levels of such hierarchies can become…
Discrete-time robust optimal control problems generally take a min-max structure over continuous variable spaces, which can be difficult to solve in practice. In this paper, we extend the class of such problems that can be solved through a…
Numerical optimal control has long been split between globally structured but dimensionally intractable Hamilton--Jacobi--Bellman (HJB) methods and scalable but local trajectory optimization. We introduce Featurized Occupation Measures…
Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…
Optimization is at the core of control theory and appears in several areas of this field, such as optimal control, distributed control, system identification, robust control, state estimation, model predictive control and dynamic…
This paper focuses on boundary approximate controllability under positivity constraints of a wide range of infinite-dimensional control systems. We develop frequency domain controllability criteria. Firstly, we derive a controllability…
Semidefinite programs are convex optimisation problems involving a linear objective function and a domain of positive semidefinite matrices. Over the last two decades, they have become an indispensable tool in quantum information science.…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…