We tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles' uncertain states. Then, we develop a mixed-integer conic approximation to the chance-constrained t ...
Two characteristics that make convex decomposition algorithms attractive are simplicity of operations and generation of parallelizable structures. In principle, these schemes require that all coordinates update at the same time, i.e., they are synchronous ...
We consider the class of convex minimization problems, composed of a self-concordant function, such as the logdet metric, a convex data fidelity term h and, a regularizing -- possibly non-smooth -- function g. This type of problems have recently attracted ...
Long-term planning for energy systems is often based on deterministic economic optimization and forecasts of fuel prices. When fuel price evolution is underestimated, the consequence is a low penetration of renewables and more efficient technologies in fav ...
Minkowski sums are a very simple geometrical operation, with applications in many different fields. In particular, Minkowski sums of polytopes have shown to be of interest to both industry and the academic world. This thesis presents a study of these sums, ...
A linear programming approach is proposed to tune fixed-order linearly parameterized controllers for stable LTI plants. The method is based on the shaping of the open-loop transfer function in the Nyquist diagram. A lower bound on the crossover frequency a ...
