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PyPWA is a toolkit designed to optimize parametric models describing data and generate simulated distributions according to a model. Its software has been written within the python ecosystem with the goal of performing Amplitude or Partial…
The Semi-Implicit Root solver (SIR) is an iterative method for globally convergent solution of systems of nonlinear equations. Since publication, SIR has proven robustness for a great variety of problems. We here present MATLAB and MAPLE…
Data-enabled predictive control (DeePC) has recently attracted attention as a promising approach for controlling systems directly from raw data, without requiring an explicit identification step. However, DeePC has not yet been extended to…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
We address the optimal design of a large scale multi-agent system where each agent has discrete and/or continuous decision variables that need to be set so as to optimize the sum of linear local cost functions, in presence of linear local…
Many physical and engineering systems require solving direct problems to predict behavior and inverse problems to determine unknown parameters from measurement. In this work, we study both aspects for systems governed by differential…
We propose a machine learning approach for quickly solving Mixed Integer Programs (MIP) by learning to prioritize a set of decision variables, which we call pseudo-backdoors, for branching that results in faster solution times.…
In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…
In this paper, we describe a novel unsupervised learning scheme for accelerating the solution of a family of mixed integer programming (MIP) problems. Distinct substantially from existing learning-to-optimize methods, our proposal seeks to…
Active components, such as actuators, constitute a fundamental aspect of engineering systems, affording the freedom to shape system behavior as desired. However, this capability necessitates energy consumption, primarily in the form of…
SfePy (Simple finite elements in Python) is a software for solving various kinds of problems described by partial differential equations in one, two or three spatial dimensions by the finite element method. Its source code is mostly (85\%)…
We present novel mixed-integer programming (MIP) formulations for optimization over nonconvex piecewise linear functions. We exploit recent advances in the systematic construction of MIP formulations to derive new formulations for…
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequences and averaging them. However, a key issue with MPPI is…
In this paper, we propose a data-driven approach to derive explicit predictive control laws, without requiring any intermediate identification step. The keystone of the presented strategy is the exploitation of available priors on the…
This paper addresses the problem of tightening the mixed-integer linear programming (MILP) formulation for continuous piecewise linear (CPWL) approximations of data sets in arbitrary dimensions. The MILP formulation leverages the…
A piecewise constant Mayer cost function is used to model optimal control problems in which the state space is partitioned into several regions, each having its own Mayer cost value. In such a context, the standard numerical methods used 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,…
A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…
This paper presents a novel partially distributed outer approximation algorithm, named PaDOA, for solving a class of structured mixed integer convex programming (MICP) problems to global optimality. The proposed scheme uses an iterative…
Mixed-integer convex quadratic programs with indicator variables (MIQP) encompass a wide range of applications, from statistical learning to energy, finance, and logistics. The outer approximation (OA) algorithm has been proven efficient in…