8 citations · 22 across the 16 of their papers we have counts for
16 papers · 1 filter
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…
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…