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math.OC2026
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
math.OC2025
Reformulations of Quadratic Programs for Lipschitz Continuity
Devansh R. Agrawal, Haejoon Lee, Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these…
math.OC2025
Feasibility Evaluation of Quadratic Programs for Constrained Control
Panagiotis Rousseas, Dimitra Panagou
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we…