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math.OC2025
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…
math.OC2024
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…