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Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection
Arvind U Raghunathan
Convex Quadratic Programs (QPs) have come to play a central role in the computation of control action for constrained dynamical systems. In this paper, we present a novel Homogeneo…
SDP-quality bounds via convex quadratic relaxations for global optimization of mixed-integer quadratic programs
Carlos J. Nohra, Arvind U. Raghunathan, Nikolaos V. Sahinidis
We consider the global optimization of nonconvex mixed-integer quadratic programs with linear equality constraints. In particular, we present a new class of convex quadratic relaxa…
PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance
Arvind U. Raghunathan, Devesh K. Jha, Diego Romeres
PYROBOCOP is a lightweight Python-based package for control and optimization of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the p…