3 papers
cs.RO2024
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning
Rudolf Reiter, Armin Nurkanovic, Daniele Bernadini +2
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies…
math.OC2021
A Sequential Convex Programming Approach to Solving Quadratic Programs and Optimal Control Problems with Linear Complementarity Constraints
Jonas Hall, Armin Nurkanovic, Florian Messerer +1
Mathematical programs with complementarity constraints are notoriously difficult to solve due to their nonconvexity and lack of constraint qualifications in every feasible point. T…
math.OC2020
A Time-Freezing Approach for Numerical Optimal Control of Nonsmooth Differential Equations with State Jumps
Armin Nurkanović, Tommaso Sartor, Sebastian Albrecht +1
We present a novel reformulation of nonsmooth differential equations with state jumps which enables their easier simulation and use in optimal control problems without the need of…