Trajectory optimization is a powerful tool for robot motion planning and control.

Optimization and Control Robotics

This paper describes autonomous racing of RC race cars based on mathematical optimization.

Optimization and Control Robotics Systems and Control

This work provides a brief introduction to the design of PowerModels, validates its implementation, and demonstrates its effectiveness with a proof-of-concept study analyzing five different formulations of the Optimal Power Flow problem.

Optimization and Control Computational Engineering, Finance, and Science

The Real-Time Iteration (RTI) is an online nonlinear model predictive control algorithm that performs a single Sequential Quadratic Programming (SQP) per sampling time.

Optimization and Control

This paper introduces the quadratically-constrained quadratic programming (QCQP) framework recently added in HPIPM alongside the original quadratic-programming (QP) framework.

Optimization and Control Systems and Control Systems and Control

Transductions are a general formalism for expressing transformations of graphs (and more generally, of relational structures) in logic.

Combinatorics Discrete Mathematics Logic in Computer Science Logic

In this thesis, I improve the running time of methods that use more than four kangaroos significantly, and almost beat the fastest kangaroo algorithm, by presenting a seven kangaroo method with an expected average running time of $\big(1. 7195 + o(1)\big)\sqrt{N} \pm O(1)$ group operations.

Number Theory Data Structures and Algorithms

Efficiently solving nonlinear equations underpins numerous scientific and engineering disciplines, yet scaling these solutions for complex system models remains a challenge.

Numerical Analysis Numerical Analysis

We develop a convergence-rate analysis of momentum with cyclical step-sizes.

Optimization and Control

These correspond to computing an approximate new solution, given a perturbation to the cone program coefficients (i. e., perturbation analysis), and to computing the gradient of a function of the solution with respect to the coefficients.

Optimization and Control