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Nonlinear model predictive control has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum…
As the airspace becomes increasingly congested, decentralized conflict resolution methods for airplane encounters have become essential. While decentralized safety controllers can prevent dangerous midair collisions, they do not always…
Current state-of-the-art methods for solving discrete optimization problems are usually restricted to convex settings. In this paper, we propose a general approach based on cutting planes for solving nonlinear, possibly nonconvex, binary…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…
Discrete Lossless Convexification (DLCvx) formulates a convex relaxation for a specific class of discrete-time non-convex optimal control problems. It establishes sufficient conditions under which the solution of the relaxed problem…
This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
We propose a novel approach to solving input- and state-constrained parametric mixed-integer optimal control problems using Differentiable Predictive Control (DPC). Our approach follows the differentiable programming paradigm by learning an…
Discrete barycenters are the optimal solutions to mass transport problems for a set of discrete measures. Such transport problems arise in many applications of operations research and statistics. The best known algorithms for exact…
The Minimum Spanning Tree with Conflicting Edge Pairs is a generalization that adds conflict constraints to a classical optimization problem on graphs used to model several real-world applications. In the last few years several approaches,…
Many problems in robust control and motion planning can be reduced to either find a sound approximation of the solution space determined by a set of nonlinear inequalities, or to the ``guaranteed tuning problem'' as defined by Jaulin and…
We present a coordinate ascent method for a class of semidefinite programming problems that arise in non-convex quadratic integer optimization. These semidefinite programs are characterized by a small total number of active constraints and…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
This paper is about output-feedback control problems for general linear systems in the presence of given state-, control-, disturbance-, and measurement error constraints. Because the traditional separation theorem in stochastic control is…
In this paper we propose a parallel coordinate descent algorithm for solving smooth convex optimization problems with separable constraints that may arise e.g. in distributed model predictive control (MPC) for linear network systems. Our…
Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods…
Urban air mobility (UAM) has attracted the attention of aircraft manufacturers, air navigation service providers and governments in recent years. Preventing the conflict among urban aircraft is crucial to UAM traffic safety, which is a key…
Inventory management, vehicle routing, and delivery scheduling decisions are simultaneously considered in the context of the inventory routing problem. This paper focuses on the continuous-time version of this problem where, unlike its more…
Atmospheric powered descent guidance can be solved by successive convexification; however, its onboard application is impeded by the sharp increase in computation caused by nonlinear aerodynamic forces. The problem has to be converted into…