相关论文: HPIPM: a high-performance quadratic programming fr…

This paper proposes a learning-based approach to accelerate the interior-point method (IPM) for solving optimal power flow (OPF) problems by learning the structure of the IPM central path from its early stable iterations. Unlike traditional…

Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…

In many domains, the previous decade was characterized by increasing data volumes and growing complexity of computational workloads, creating new demands for highly data-parallel computing in distributed systems. Effective operation of…

Quantum interior point methods (QIPMs) promise polynomial speed-ups over classical solvers for linear programming by outsourcing the solution of Newton linear systems to quantum linear solvers (QLSAs). However, asymptotic speed-ups do not…

We consider the problem of quantitative predictive monitoring (QPM) of stochastic systems, i.e., predicting at runtime the degree of satisfaction of a desired temporal logic property from the current state of the system. Since computational…

This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…

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…

The Iterative Forecast Planner (IFP) is a geometric planning approach that offers lightweight computations, scalable, and reactive solutions for multi-robot path planning in decentralized, communication-free settings. However, it struggles…

We propose a novel estimation framework for quadratic functionals of precision matrices in high-dimensional settings, particularly in regimes where the feature dimension $p$ exceeds the sample size $n$. Traditional moment-based estimators…

We introduce an algorithmic framework for performing QR factorization with column pivoting (QRCP) on general matrices. The framework enables the design of practical QRCP algorithms through user-controlled choices for the core subroutines.…

This paper extends the Model Predictive Static Programming (MPSP) framework for nonlinear systems evolving on Euclidean spaces to simple mechanical systems evolving on Lie groups. Classical optimal control approaches based on Pontryagin's…

This paper offers a unified perspective on different approaches to the solution of optimal control problems through the lens of constrained sequential quadratic programming. In particular, it allows us to find the relationships between…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…

The architecture scalability afforded by recent proposals of a large scale photonic based quantum computer, utilizing the theoretical developments of topological cluster states and the photonic chip, allows us to move on to a discussion of…

This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for…

This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…

We propose an SQP algorithm for mathematical programs with vanishing constraints which solves at each iteration a quadratic program with linear vanishing constraints. The algorithm is based on the newly developed concept of $\mathcal…

Piecewise regression is a versatile approach used in various disciplines to approximate complex functions from limited, potentially noisy data points. In control, piecewise regression is, e.g., used to approximate the optimal control law of…

This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined…

Model-based optimization approaches for monitoring and control, such as model predictive control and optimal state and parameter estimation, have been used for decades in many engineering applications. Models describing the dynamics,…