Related papers: Disjunctive linear separation conditions and mixed…
This study proposes a new constraint handling technique for assisting metaheuristic optimization algorithms to solve constrained optimization problems more effectively and efficiently. Given any two solutions of any constrained optimization…
Infinite-dimensional linear conic formulations are described for nonlinear optimal control problems. The primal linear problem consists of finding occupation measures supported on optimal relaxed controlled trajectories, whereas the dual…
We address the issue of generating cutting planes for mixed integer programs from multiple rows of the simplex tableau with the tools of disjunctive programming. A cut from q rows of the simplex tableau is an intersection cuts from a…
The aim of this paper is to solve linear semidefinite programs arising from higher-order Lasserre relaxations of unconstrained binary quadratic optimization problems. For this we use an interior point method with a preconditioned conjugate…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
This paper presents a novel convex optimization-based method for finding the globally optimal solutions of a class of mixed-integer non-convex optimal control problems. We consider problems with non-convex constraints that restrict the…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
In airborne light detection and ranging (LiDAR) systems, misalignments between the LiDAR-scanner and the inertial navigation system (INS) mounted on an unmanned aerial vehicle (UAV)'s frame can lead to inaccurate 3D point clouds.…
Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…
We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinear, non-holonomic vehicle dynamics and exact collision…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
We propose an enhancement to Benders decomposition (BD) that generates valid inequalities for the convex hull of the Benders reformulation, addressing the limitation that classical BD cuts are typically tight only for the continuous…
This paper is devoted to the analysis and resolution of a pathological phenomenon in airplane encounters called blocking mode. As autonomy in airplane systems increases, a pathological phenomenon can be observed in two-aircraft encounter…
We present a new approach for modeling avoidance constraints in 2D environments, in which waypoints are assigned to obstacle-free polyhedral regions. Constraints of this form are often formulated as mixed-integer programming (MIP) problems…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
In this paper, scheduling problems of aircraft minimizing the total delays on a same runway and on dual runways are studied. In contrast to the algorithms based on mixed-integer optimization models in existing works, where the optimality…
Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of every agent, the ego agent can incorporate future interactions…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
An optimization problem considering AC power flow constraints and integer decision variables can usually be posed as a mixed-integer quadratically constrained quadratic program (MIQCQP) problem. In this paper, first, a set of valid linear…
We present a finitely convergent cutting-plane algorithm for solving a general mixed-integer convex program given an oracle for solving a general convex program. This method is extended to solve a family of two-stage mixed-integer convex…