8 citations · 22 across the 16 of their papers we have counts for
17 papers
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…
Optimal Acceleration for Proximal Minimization of the Sum of Convex and Strongly Convex Functions
Govind M. Chari, Uijeong Jang, Ernest K. Ryu +1
When minimizing the sum of a convex and a strongly convex function, or when finding the zero of the sum of a monotone operator and a strongly monotone operator, Chambolle and Pock…
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…
QOCO-GPU: A Quadratic Objective Conic Optimizer with GPU Acceleration
Govind M. Chari, Behçet Açıkmeşe
We present a GPU-accelerated backend for QOCO, a C-based solver for quadratic objective second-order cone programs (SOCPs) based on a primal-dual interior point method. Our backend…
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).…
Continuous-time Constrained Funnel Synthesis for Incrementally Quadratic Nonlinear Systems
Taewan Kim, Dayou Luo, Behçet Açıkmeşe
This paper presents a convex optimization-based framework for synthesizing time-varying controlled invariant funnels and associated feedback control around a given nominal trajecto…
Onboard Dual Quaternion Guidance for Rocket Landing
Abhinav G. Kamath, Javier A. Doll, Purnanand Elango +8
The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities E…
Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit
Purnanand Elango, Abraham P. Vinod, Kenji Kitamura +3
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to Gateway, a lunar space station architecture based on a near rectilinear halo orbit (NRHO) arou…
Newton-PIPG: A Fast Hybrid Algorithm for Quadratic Programs in Optimal Control
Dayou Luo, Yue Yu, Maryam Fazel +1
We propose Newton-PIPG, an efficient method for solving quadratic programming (QP) problems arising in optimal control, subject to additional set constraints. Newton-PIPG integrate…
Impulsive Relative Motion Control with Continuous-Time Constraint Satisfaction for Cislunar Space Missions
Fabio Spada, Purnanand Elango, Behçet Açıkmeşe
Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential…
Optimal Preconditioning for Online Quadratic Cone Programming
Abhinav G. Kamath, Purnanand Elango, Behçet Açıkmeşe
First-order conic optimization solvers are sensitive to problem conditioning and typically perform poorly in the face of ill-conditioned problem data. To mitigate this, we propose…
Spacecraft Rendezvous Guidance via Factorization-Free Sequential Convex Programming using a First-Order Method
Govind M. Chari, Behçet Açıkmeşe
We implement a fully factorization-free algorithm for nonconvex, free-final-time trajectory optimization. This algorithm is based on sequential convex programming and utilizes an i…
Optimization-based Constrained Funnel Synthesis for Systems with Lipschitz Nonlinearities via Numerical Optimal Control
Taewan Kim, Purnanand Elango, Taylor P. Reynolds +2
This paper presents a funnel synthesis algorithm for computing controlled invariant sets and feedback control gains around a given nominal trajectory for dynamical systems with loc…
Real-Time Sequential Conic Optimization for Multi-Phase Rocket Landing Guidance
Abhinav G. Kamath, Purnanand Elango, Yue Yu +4
We introduce a multi-phase rocket landing guidance framework that can handle nonlinear dynamics and does not mandate any additional mixed-integer or nonconvex constraints to handle…
Proportional-Integral Projected Gradient Method for Conic Optimization
Yue Yu, Purnanand Elango, Ufuk Topcu +1
Conic optimization is the minimization of a differentiable convex objective function subject to conic constraints. We propose a novel primal-dual first-order method for conic optim…
Proportional-Integral Projected Gradient Method for Model Predictive Control
Yue Yu, Purnanand Elango, Behçet Açikmeşe
Recently there has been an increasing interest in primal-dual methods for model predictive control (MPC), which require minimizing the (augmented) Lagrangian at each iteration. We…
Sample Truncation for Scenario Approach to Closed-loop Chance Constrained Trajectory Optimization for Linear Systems
Hossein Sartipizadeh, Behçet Açikmeşe
This paper studies closed-loop chance constrained control problems with disturbance feedback (equivalently state feedback) where state and input vectors must remain in a prescribed…