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Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares

Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can …

lujie-yang

• Sep 1, 2023 • 1 min read

Certified Polyhedral Decompositions of Collision-Free Configuration Space

Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. …

hongkai-dai

• Jan 1, 2023 • 1 min read

Approximately supermodular scheduling subject to matroid constraints

Control scheduling refers to the problem of assigning agents or actuators to act upon a dynamical system at specific times so as to minimize a quadratic control cost, such as the …

luiz-fo-chamon

• Jan 1, 2021 • 1 min read