4 papers
GPU-Accelerated SPOCK for Scenario-Based Risk-Averse Optimal Control Problems
Ruairi Moran, Pantelis Sopasakis
This paper presents a GPU-accelerated implementation of the SPOCK algorithm, a proximal method designed for solving scenario-based risk-averse optimal control problems. The propose…
NMPC for Collision Avoidance by Superellipsoid Separation
Ruairi Moran, Sheila Bagley, Seth Kasmann +5
This paper introduces a novel NMPC formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination…
Parallelisable computation of the gradient in nonlinear stochastic optimal control problems
Jie Lin, Ruairi Moran, Pantelis Sopasakis
Nonlinear (deterministic and stochastic) optimal control problems are often solved on embedded devices using first-order numerical optimisation methods. The gradient computation ac…
SPOCK: A proximal method for multistage risk-averse optimal control problems
Alexander Bodard, Ruairi Moran, Mathijs Schuurmans +2
Risk-averse optimal control problems have gained a lot of attention in the last decade, mostly due to their attractive mathematical properties and practical importance. They can be…