Abstract: This paper presents an Adaptive Generalized Quasi-Spectral Model Predictive Convex Programming (AGS-MPCP) framework for constrained guidance problems based on Gaussian orthogonal collocation ...

The SCP Toolbox provides a parser-solver framework for sequential convex programming (SCP) algorithms for real-time generation of dynamically feasible trajectories of aerospace, robotic, and other ...

Abstract: In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate ...

Acceptability pricing is formulated, for the dual problem, as a disciplined convex program solvable by the software CVXOPT. Forward starting options are used to illustrate the procedures for ...