173 citations · 226 across the 8 of their papers we have counts for
8 papers
Log-domain interior-point methods for convex quadratic programming
Frank Permenter
Applying an interior-point method to the central-path conditions is a widely used approach for solving quadratic programs. Reformulating these conditions in the log-domain is a nat…
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
Hongkai Dai, Frank Permenter
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with o…
A Computationally Governed Log-domain Interior-point Method for Model Predictive Control
Jordan Leung, Frank Permenter, Ilya Kolmanovsky
This paper introduces a computationally efficient approach for solving Model Predictive Control (MPC) reference tracking problems with state and control constraints. The approach c…
An Unconstrained Convex Formulation of Compliant Contact
Alejandro Castro, Frank Permenter, Xuchen Han
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain…
A geodesic interior-point method for linear optimization over symmetric cones
Frank Permenter
We develop a new interior-point method (IPM) for symmetric-cone optimization, a common generalization of linear, second-order-cone, and semidefinite programming. In contrast to cla…
Dimension reduction for semidefinite programs via Jordan algebras
Frank Permenter, Pablo A. Parrilo
We propose a new method for simplifying semidefinite programs (SDP) inspired by symmetry reduction. Specifically, we show if an orthogonal projection map satisfies certain invarian…
Partial facial reduction: simplified, equivalent SDPs via approximations of the PSD cone
Frank Permenter, Pablo Parrilo
We develop a practical semidefinite programming (SDP) facial reduction procedure that utilizes computationally efficient approximations of the positive semidefinite cone. The propo…
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion
Scott Kuindersma, Frank Permenter, Russ Tedrake
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function…