10 citations · 33 across the 12 of their papers we have counts for
12 papers
Signal Temporal Logic Meets Convex-Concave Programming: A Structure-Exploiting SQP Algorithm for STL Specifications
Yoshinari Takayama, Kazumune Hashimoto, Toshiyuki Ohtsuka
This study considers the control problem with signal temporal logic (STL) specifications. Prior works have adopted smoothing techniques to address this problem within a feasible ti…
STLCCP: Efficient Convex Optimization-based Framework for Signal Temporal Logic Specifications
Yoshinari Takayama, Kazumune Hashimoto, Toshiyuki Ohtsuka
Signal temporal logic (STL) is a powerful formalism for specifying various temporal properties in dynamical systems. However, existing methods, such as mixed-integer programming an…
A Non-Interior-Point Continuation Method for the Optimal Control Problem with Equilibrium Constraints
Kangyu Lin, Toshiyuki Ohtsuka
In this study, we focus on the numerical solution method for the optimal control problem with equilibrium constraints (OCPEC).It is extremely challenging to solve OCPEC owing to th…
Whole-body model predictive control with rigid contacts via online switching time optimization
Sotaro Katayama, Toshiyuki Ohtsuka
This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO…
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
Sotaro Katayama, Toshiyuki Ohtsuka
This study proposes an efficient Newton-type method for the optimal control of switched systems under a given mode sequence. A mesh-refinement-based approach is utilized to discret…
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts
Sotaro Katayama, Toshiyuki Ohtsuka
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax…
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
Sotaro Katayama, Toshiyuki Ohtsuka
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, in…
Bayesian filtering for nonlinear stochastic systems using holonomic gradient method with integral transform
Tomoyuki Iori, Toshiyuki Ohtsuka
This paper proposes a symbolic-numeric Bayesian filtering method for a class of discrete-time nonlinear stochastic systems to achieve high accuracy with a relatively small online c…
Efficient Riccati recursion for optimal control problems with pure-state equality constraints
Sotaro Katayama, Toshiyuki Ohtsuka
A novel approach to efficiently treat pure-state equality constraints in optimal control problems (OCPs) using a Riccati recursion algorithm is proposed. The proposed method transf…
Riccati Recursion for Optimal Control Problems of Nonlinear Switched Systems
Sotaro Katayama, Toshiyuki Ohtsuka
We propose an efficient algorithm for the optimal control problems (OCPs) of nonlinear switched systems that optimizes the control input and switching instants simultaneously for a…
A Double-Layer Jacobi Method for PDE-Constrained Nonlinear Model Predictive Control
Haoyang Deng, Toshiyuki Ohtsuka
This paper presents a real-time optimization method for nonlinear model predictive control (NMPC) of systems governed by partial differential equations (PDEs). The NMPC problem to…
Nonlinear Eigenvalue Approach to Differential Riccati Equations for Contraction Analysis
Yu Kawano, Toshiyuki Ohtsuka
In this paper, we extend the eigenvalue method of the algebraic Riccati equation to the differential Riccati equation (DRE) in contraction analysis. One of the main results is show…