Related papers: GPU-Accelerated Continuous-Time Successive Convexi…
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…
In this paper we develop a sequential convex programming (SCP) framework for free-final-time covariance steering of nonlinear stochastic differential equations (SDEs) subject to both additive and multiplicative diffusion. We cast the…
We propose a novel test-time optimization approach for efficiently and robustly tracking any pixel at any time in a video. The latest state-of-the-art optimization-based tracking technique, OmniMotion, requires a prohibitively long…
Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control imperfections, and model mismatches between planning models…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
In this paper, we consider the (global and sum) energy efficiency optimization problem in downlink multi-input multi-output multi-cell systems, where all users suffer from multi-user interference. This is a challenging problem due to…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
Cross-View Geo-localisation (CVGL) matches ground imagery against satellite tiles to give absolute position fixes, an alternative to GNSS where signals are occluded, jammed, or spoofed. Recent fine-grained CVGL methods regress sub-tile…
Many scientific and engineering applications feature nonsmooth convex minimization problems over convex sets. In this paper, we address an important instance of this broad class where we assume that the nonsmooth objective is equipped with…
Matching and partitioning problems are fundamentals of computer vision applications with examples in multilabel segmentation, stereo estimation and optical-flow computation. These tasks can be posed as non-convex energy minimization…
Simultaneous variable selection and robust data fitting are important aspects of many mathematical modelling projects and a wide array of optimisation tools and techniques exist to support them. When the intention is to embed this…
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
In this paper, we present the application of successive convexification methods to autonomous driving problems borrowed from recent aerospace literature. We formulate two optimization problems within the successive convexification…
This paper introduces a landing guidance strategy for reusable launch vehicles (RLVs) using a model predictive approach based on sequential convex programming (SCP). The proposed approach devises two distinct optimal control problems…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
In this paper, we develop an interior-point method for solving a class of convex optimization problems with time-varying objective and constraint functions. Using log-barrier penalty functions, we propose a continuous-time dynamical system…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…