129 citations · 205 across the 17 of their papers we have counts for
5 papers · 1 filter
An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization
Heng Yang, Ling Liang, Luca Carlone +1
We consider solving high-order semidefinite programming (SDP) relaxations of nonconvex polynomial optimization problems (POPs) that often admit degenerate rank-one optimal solution…
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
Heng Yang, Luca Carlone
We propose the first general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate…
A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
Heng Yang, Luca Carlone
The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental rout…
LQG Control and Sensing Co-Design
Vasileios Tzoumas, Luca Carlone, George J. Pappas +1
We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing co-design problem, where one jointly designs sensing and control policies. We focus on the realistic case where…
Distributed Random Convex Programming via Constraints Consensus
Luca Carlone, Vaibhav Srivastava, Francesco Bullo +1
This paper discusses distributed approaches for the solution of random convex programs (RCP). RCPs are convex optimization problems with a (usually large) number N of randomly extr…