Related papers: QuITO: Numerical software for constrained nonlinea…
In recent years, efficient optimization algorithms for Nonlinear Model Predictive Control (NMPC) have been proposed, that significantly reduce the on-line computational time. In particular, direct multiple shooting and Sequential Quadratic…
This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an integrator and an uncertain nonlinear actuation system. In…
OPM is a small collection of CUTEst unconstrained and bound-constrained nonlinear optimization problems, which can be used in Matlab for testing optimization algorithms directly (i.e. without installing additional software).
Real-world optimization problems must undergo a series of transformations before becoming solvable on current quantum hardware. Even for a fixed problem, the number of possible transformation paths -- from industry-relevant formulations…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
We present a general-purpose solver for convex quadratic programs based on the alternating direction method of multipliers, employing a novel operator splitting technique that requires the solution of a quasi-definite linear system with the…
We present a new solver for non-convex trajectory optimization problems that is specialized for robotics applications. CALIPSO, or the Conic Augmented Lagrangian Interior-Point SOlver, combines several strategies for constrained numerical…
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate frame, the lane change constraints, collision avoidance and…
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…
Perfect Domination Problem (PDP), a canonical challenge in combinatorial optimization, finds critical applications in real-world systems such as error-correcting codes, wireless communication networks, and social networks. Decades of…
We present Riccati-ZORO, an algorithm for tube-based optimal control problems (OCP). Tube OCPs predict a tube of trajectories in order to capture predictive uncertainty. The tube induces a constraint tightening via additional backoff terms.…
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex programs (MICPs). However, state-of-the-art algorithms are still unable to solve MICPs for control problems quickly enough for…
Formulation symmetry in mixed-integer programming (MIP) can hinder solver performance by inducing redundant search, but detecting such symmetries is also a significant computational challenge. This paper explores the potential for quantum…
This paper focuses on the design of sequential quadratic optimization (commonly known as SQP) methods for solving large-scale nonlinear optimization problems. The most computationally demanding aspect of such an approach is the computation…
The Quantum Approximate Optimization Algorithm (QAOA) and its derived variants are widely in use for approximating combinatorial optimization problem instances on gate-based Noisy Intermediate Scale Quantum (NISQ) computers. Commonly,…
This paper deals with numerical solutions to an impulse control problem arising from optimal portfolio liquidation with bid-ask spread and market price impact penalizing speedy execution trades. The corresponding dynamic programming (DP)…
Quantum Optimal Control (QOC) is the field devoted to the production of external control protocols that actively guide quantum dynamics. Solutions to QOC problems were shown to constitute continuous submanifolds of control space. A solution…
We demonstrate that with an optimally tuned scheduling function, adiabatic quantum computing (AQC) can readily solve a quantum linear system problem (QLSP) with $\mathcal{O}(\kappa~\text{poly}(\log(\kappa/\epsilon)))$ runtime, where…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…