12 papers
Successive Convexification for Trajectory Optimization with Continuous-time Satisfaction of Signal Temporal Logic Specifications
Samet Uzun, Behçet AçıkmeÅe
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 AçıkmeÅe
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 AçıkmeÅe
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…
QOCO: A Quadratic Objective Conic Optimizer with Custom Solver Generation
Govind M Chari, Behçet AçikmeÅe
Second-order cone programs (SOCPs) with quadratic objective functions are common in optimal control and other fields. Most SOCP solvers which use interior-point methods are designe…
A Proximal Method for Composite Optimization with Smooth and Convex Components
Samet Uzun, Dayou Luo, Behçet AçıkmeÅe +1
We introduce prox-convex for minimizing , where and are convex, and are smooth, and each component of is convex (possibly nonsmooth).…