67 citations · 68 across the 14 of their papers we have counts for
4 papers · 1 filter
A Unified and Scalable Method for Optimization over Graphs of Convex Sets
Tobia Marcucci
A Graph of Convex Sets (GCS) is a graph in which vertices are associated with convex programs and edges couple pairs of programs through additional convex costs and constraints. An…
Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Bernhard Paus Graesdal +3
We study the Shortest-Walk Problem (SWP) in a Graph of Convex Sets (GCS). A GCS is a graph where each vertex is paired with a convex program, and each edge couples adjacent program…
A biconvex method for minimum-time motion planning through sequences of convex sets
Tobia Marcucci, Mathew Halm, Will Yang +2
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. Thi…
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
Lujie Yang, Tobia Marcucci, Pablo A. Parrilo +1
We introduce a semidefinite relaxation for optimal control of linear systems with time scaling. These problems are inherently nonconvex, since the system dynamics involves bilinear…