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This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…
Optimizing a nonlinear function over nonconvex sets is challenging since solving convex relaxations may lead to substantial relaxation gaps and infeasible solutions that must be "rounded" to feasible ones, often with uncontrollable losses…
We consider the question of which nonconvex sets can be represented exactly as the feasible sets of mixed-integer convex optimization problems. We state the first complete characterization for the case when the number of possible integer…
We study robust convex quadratic programs where the uncertain problem parameters can contain both continuous and integer components. Under the natural boundedness assumption on the uncertainty set, we show that the generic problems are…
In this work we study convex relaxations of quadratic optimisation problems over permutation matrices. While existing semidefinite programming approaches can achieve remarkably tight relaxations, they have the strong disadvantage that they…
In this work we propose a Model Predictive Control (MPC) formulation that splits constraints in two different types. Motivated by safety considerations, the first type of constraint enforces a control-invariant set, while the second type…
We investigate constrained optimal control problems for linear stochastic dynamical systems evolving in discrete time. We consider minimization of an expected value cost over a finite horizon. Hard constraints are introduced first, and then…
We consider the problem of recovering linear image of unknown signal belonging to a given convex compact signal set from noisy observation of another linear image of the signal. We develop a simple generic efficiently computable nonlinear…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
Multiobjective integer programs (MOIPs) simultaneously optimize multiple objective functions over a set of linear constraints and integer variables. In this paper, we present continuous, convex hull and Lagrangian relaxations for MOIPs and…
We study the complexity of computing the mixed-integer hull $\operatorname{conv}(P\cap\mathbb{Z}^n\times\mathbb{R}^d)$ of a polyhedron $P$. Given an inequality description, with one integer variable, the mixed-integer hull can have…
We study the integrality gap of convex mixed-integer programs, that is, the difference between the optimal value of such a problem and the optimal value of its continuous relaxation. We study classes of convex sets whose associated…
A subset of Q^n is called semilinear (or piecewise linear) if it is Boolean combination of linear half-spaces. We study the computational complexity of the constraint satisfaction problem (CSP) over the rationals when all the constraints…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
The benefits of cutting planes based on the perspective function are well known for many specific classes of mixed-integer nonlinear programs with on/off structures. However, we are not aware of any empirical studies that evaluate their…
Quadratic invariance is a condition which has been shown to allow for optimal decentralized control problems to be cast as convex optimization problems. The condition relates the constraints that the decentralization imposes on the…
The constrained linear quadratic regulation problem is solved by a continuous piecewise affine function on a set of state space polytopes. It is an obvious question whether this solution can be built up iteratively by increasing the…
In this paper, we investigate the polyhedral structure of two submodular sets with generalized upper bound (GUB) constraints, which arise as important substructures in various real-world applications. We derive a class of strong valid…
The convex hull of N independent random points chosen on the boundary of a simple polytope in R^n is investigated. Asymptotic formulas for the expected number of vertices and facets, and for the expectation of the volume difference are…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…