Related papers: PlaCo: a QP-based robot planning and control frame…
A specialized algorithm for quadratic optimization (QO, or, formerly, QP) with disjoint linear constraints is presented. In the considered class of problems, a subset of variables are subject to linear equality constraints, while variables…
We present Quafu-Qcover, an open-source cloud-based software package designed for combinatorial optimization problems that support both quantum simulators and hardware backends. Quafu-Qcover provides a standardized and complete workflow for…
This work presents a convex optimization framework for the planning and tracking of quadcopter trajectories with continuous-time safety guarantees. Using B-spline basis functions and the differential flatness property of quadcopters, a…
This paper presents a novel quadratic programming (QP) approach for constrained control allocation that directly incorporates continuous-time actuator rate constraints without requiring slack variables. Over-actuated aircraft…
We present a number of quantum computing patterns that build on top of fundamental algorithms, that can be applied to solving concrete, NP-hard problems. In particular, we introduce the concept of a quantum dictionary as a summation of…
Optimizing an expensive-to-query function is a common task in science and engineering, where it is beneficial to keep the number of queries to a minimum. A popular strategy is Bayesian optimization (BO), which leverages probabilistic models…
Quadratic Unconstrained Binary Optimization (QUBO) is a broad class of optimization problems with many practical applications. To solve its hard instances in an exact way, known classical algorithms require exponential time and several…
Planning energy production is a challenging task due to its cost-sensitivity, fast-moving energy markets, uncertainties in demand, and technical constraints of power plants. Thus, more complex models of this so-called \emph{unit commitment…
Machine Learning (ML) optimization frameworks have gained attention for their ability to accelerate the optimization of large-scale Quadratically Constrained Quadratic Programs (QCQPs) by learning shared problem structures. However,…
Quadratic Unconstrained Binary Optimization (QUBO) is recognized as a unifying framework for modeling a wide range of problems. Problems can be solved with commercial solvers customized for solving QUBO and since QUBO have degree two, it is…
Solving real-world optimization problems with quantum computing requires choosing between a large number of options concerning formulation, encoding, algorithm and hardware. Finding good solution paths is challenging for end users and…
The increasing control complexity of Noisy Intermediate-Scale Quantum (NISQ) systems underlines the necessity of integrating quantum hardware with quantum software. While mapping heterogeneous quantum-classical computing (HQCC) algorithms…
PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the package can handle systems with contacts that are described…
This work solves suboptimal mixed-integer quadratic programs recursively for feedback control of dynamical systems. The proposed framework leverages parametric mixed-integer quadratic programming (MIQP) and hybrid systems theory to model a…
It is becoming increasingly clear that, if a useful device for quantum computation will ever be built, it will be embodied by a classical computing machine with control over a truly quantum subsystem, this apparatus performing a mixture of…
When Model Predictive Control (MPC) is used in real-time to control linear systems, quadratic programs (QPs) need to be solved within a limited time frame. Recently, several parametric methods have been proposed that certify the number of…
The Quadratic Unconstrained Binary Optimization problem (QUBO) has become a unifying model for representing a wide range of combinatorial optimization problems, and for linking a variety of disciplines that face these problems. A new class…
Quadratic Programs (QPs) are widely used in the control of walking robots, especially in Model Predictive Control (MPC) and Whole-Body Control (WBC). In both cases, the controller design requires the formulation of a QP and the selection of…
Quadratically constrained quadratic programs (QCQPs) are an expressive family of optimization problems that occur naturally in many applications. It is often of interest to seek out sparse solutions, where many of the entries of the…
First-order methods for quadratic optimization such as OSQP are widely used for large-scale machine learning and embedded optimal control, where many related problems must be rapidly solved. These methods face two persistent challenges:…