2 papers
eess.SY2026
A Convex Obstacle Avoidance Formulation
Ricardo Tapia, Iman Soltani
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-cr…
eess.SY2026
RCOA Extension and Applications
Ricardo Tapia, Iman Soltani
The Relaxed Convex Obstacle Avoidance (RCOA) formulation is the first approach to enable a fully convex optimal control problem (OCP) for obstacle avoidance. Convergence analysis o…