Related papers: CoCo: Online Mixed-Integer Control via Supervised …
Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability, such as search and rescue, delivery and autonomous drone racing, etc. One of…
A critical limitation in large-scale multi-agent systems is the cascading of errors. And without intermediate verification, downstream agents exacerbate upstream inaccuracies, resulting in significant quality degradation. To bridge this…
Motivation: The size of available omics datasets is steadily increasing with technological advancement in recent years. While this increase in sample size can be used to improve the performance of relevant prediction tasks in healthcare,…
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical constraints and continuous equations are optimized alongside.…
Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…
Bandit Convex Optimisation (BCO) is a powerful framework for sequential decision-making in non-stationary and partially observable environments. In a BCO problem, a decision-maker sequentially picks actions to minimize the cumulative cost…
Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…
Intelligent motion planning is one of the core components in automated vehicles, which has received extensive interests. Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization…
Conic programming has well-documented merits in a gamut of signal processing and machine learning tasks. This contribution revisits a recently developed first-order conic descent (CD) solver, and advances it in three aspects: intuition,…
Finding a high-quality feasible solution to a combinatorial optimization (CO) problem in a limited time is challenging due to its discrete nature. Recently, there has been an increasing number of machine learning (ML) methods for addressing…
Combinatorial Optimization (CO) problems over graphs appear routinely in many applications such as in optimizing traffic, viral marketing in social networks, and matching for job allocation. Due to their combinatorial nature, these problems…
An online non-convex optimization problem is considered where the goal is to minimize the flow time (total delay) of a set of jobs by modulating the number of active servers, but with a switching cost associated with changing the number of…
We study the problem of online convex optimization (OCO) under unknown linear constraints that are either static, or stochastically time-varying. For this problem, we introduce an algorithm that we term Optimistically Safe OCO (OSOCO) and…
We present an adaptation of direct collocation -- a trajectory optimization method commonly used in robotics and aerospace applications -- to quantum optimal control (QOC); we refer to this method as Pade Integrator COllocation (PICO). This…
Neural Combinatorial Optimization (NCO) has mostly focused on learning policies, typically neural networks, that operate on a single candidate solution at a time, either by constructing one from scratch or iteratively improving it. In…
Mixed-integer model predictive control (MI-MPC) can be a powerful tool for modeling hybrid control systems. In case of a linear-quadratic objective in combination with linear or piecewise-linear system dynamics and inequality constraints,…
Explicit machine learning-based model predictive control (explicit ML-MPC) has been developed to reduce the real-time computational demands of traditional ML-MPC. However, the evaluation of candidate control actions in explicit ML-MPC can…
For multiparametric mixed-integer convex programming problems such as those encountered in hybrid model predictive control, we propose an algorithm for generating a feasible partition of a subset of the parameter space. The result is a…
Solving NP-hard/complete combinatorial problems with neural networks is a challenging research area that aims to surpass classical approximate algorithms. The long-term objective is to outperform hand-designed heuristics for…
For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…