332 citations · 428 across the 15 of their papers we have counts for
4 papers · 1 filter
Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation
Shucheng Kang, Yuxiao Chen, Heng Yang +1
We study the problem of verification and synthesis of robust control barrier functions (CBF) for control-affine polynomial systems with bounded additive uncertainty and convex poly…
An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization
Heng Yang, Ling Liang, Luca Carlone +1
We consider solving high-order semidefinite programming (SDP) relaxations of nonconvex polynomial optimization problems (POPs) that often admit degenerate rank-one optimal solution…
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
Heng Yang, Luca Carlone
We propose the first general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate…
A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
Heng Yang, Luca Carlone
The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental rout…