14 citations · 20 across the 10 of their papers we have counts for
10 papers
OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package
Christopher R. Hayner, Griffin J. Norris, Fabio Spada +4
Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish complex tasks while satisfying operational and environmental constraints.…
Successive Convexification for Trajectory Optimization with Continuous-time Satisfaction of Signal Temporal Logic Specifications
Samet Uzun, Behçet Açıkmeşe
This paper presents a successive convexification framework for trajectory optimization under continuous-time Signal Temporal Logic (CT-STL) specifications. The framework employs ge…
Smooth and Exact Parameterization of Continuous-time Signal Temporal Logic Specifications for Trajectory Optimization
Samet Uzun, Behçet Açıkmeşe
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up t…
A Proximal Method for Composite Optimization with Smooth and Convex Components
Samet Uzun, Dayou Luo, Behçet Açıkmeşe +1
We introduce prox-convex for minimizing , where and are convex, and are smooth, and each component of is convex (possibly nonsmooth).…
Sequential Convex Programming for 6-DoF Powered Descent Guidance with Continuous-Time Compound State-Triggered Constraints
Samet Uzun, Behcet Acikmese, John M. Carson
This paper presents a sequential convex programming (SCP) framework for ensuring the continuous-time satisfaction of compound state-triggered constraints, a subset of logical speci…
Optimization with Temporal and Logical Specifications via Generalized Mean-based Smooth Robustness Measures
Samet Uzun, Purnanand Elango, Pierre-Loic Garoche +1
This paper introduces a generalized mean-based C^1-smooth robustness measure over discrete-time signals (D-GMSR) for signal temporal logic (STL) specifications. In conjunction with…
Successive Convexification for Nonlinear Model Predictive Control with Continuous-Time Constraint Satisfaction
Samet Uzun, Purnanand Elango, Abhinav G. Kamath +2
We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluati…
Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction
Purnanand Elango, Dayou Luo, Abhinav G. Kamath +3
We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed conver…
Decentralized State-Dependent Markov Chain Synthesis with an Application to Swarm Guidance
Samet Uzun, Nazim Kemal Ure, Behcet Acikmese
This paper introduces a decentralized state-dependent Markov chain synthesis (DSMC) algorithm for finite-state Markov chains. We present a state-dependent consensus protocol that a…
A Probabilistic Guidance Approach to Swarm-to-Swarm Engagement Problem
Samet Uzun, Nazim Kemal Ure
This paper introduces a probabilistic guidance approach for the swarm-to-swarm engagement problem. The idea is based on driving the controlled swarm towards an adversary swarm, whe…