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Decentralized Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing and Estimation
Related publications (43)
An Inexact Augmented Lagrangian Framework for Nonconvex Optimization with Nonlinear Constraints
Volkan Cevher, Ahmet Alacaoglu, Armin Eftekhari, Fabian Ricardo Latorre Gomez, Mehmet Fatih Sahin
We propose a practical inexact augmented Lagrangian method (iALM) for nonconvex problems with nonlinear constraints. We characterize the total computational complexity of our method subject to a verifiable geometric condition, which is closely related to t ...
2019Fait d'hybridation – Cohabitations dans une coopérative viticole à Sion (VS)
L’énoncé théorique, développé lors du premier semestre, a étudié la question de l’hybridation dans le cadre du logement individuel et collectif, notamment quand l’espace du logement intègre d’autres fonctions. Contre un fonctionnalisme rigide et fracturant ...
2019Technical Report: Control of Nonlinear Systems with Explicit-MPC-like Controllers
Colin Neil Jones, Milan Korda, Ivan Pejcic
This paper describes synthesis of controllers involving Quadratic Programming (QP) optimization problems for control of nonlinear systems. The QP structure allows an implementation of the controller as a piecewise affine function, pre-computed offline, whi ...
2017Distributed Rate Allocation in Switch-Based Multiparty Videoconferencing System
Pascal Frossard, Sergio Mena, Stefano D'Aronco
Multiparty videoconferences, or more generally multiparty video calls, are gaining a lot of popularity as they offer a rich communication experience. These applications have, however, large requirements in terms of both network and computational resources ...
2017Complexity Certification of the Fast Alternating Minimization Algorithm for Linear MPC
Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger
In this technical note, the fast alternating minimization algorithm (FAMA) is proposed to solve model predictive control (MPC) problems with polytopic and second-order cone constraints. Two splitting strategies with efficient implementations for MPC proble ...
2017Exact Algorithms for $ L ^{ 1 } $ -TV Regularization of Real-Valued or Circle-Valued Signals
Michaël Unser, Martin Kurt Storath
We consider -TV regularization of univariate signals with values on the real line or on the unit circle. While the real data space leads to a convex optimization problem, the problem is nonconvex for circle-valued data. In this paper, we deriv ...
SIAM2016Distributed Modifier-Adaptation Schemes for the Real-Time Optimization of Interconnected Systems in the Presence of Structural Plant-Model Mismatch
Dominique Bonvin, René Uwe Schneider, Predrag Milosavljevic
The desire to operate chemical processes in a safe and economically optimal way has motivated the development of so-called real-time optimization (RTO) methods [1]. For continuous processes, these methods aim to compute safe and optimal steady-state set ...
2016Particle Swarm Optimization and Kalman Filtering for Demand Prediction of Commercial Buildings
François Maréchal, Samira Fazlollahi, Araz Ashouri
The integration of weather forecasts and demand prediction into the energy management system of buildings is usually achieved using a model-based predictive control. The performance of such control techniques strongly depends on the accuracy of the thermal ...
2015Rigorous optimization recipes for sparse and low rank inverse problems with applications in data sciences
Many natural and man-made signals can be described as having a few degrees of freedom relative to their size due to natural parameterizations or constraints; examples include bandlimited signals, collections of signals observed from multiple viewpoints in ...
EPFL2014Enabling Complexity-Performance Trade-Offs for Successive Cancellation Decoding of Polar Codes
Andreas Peter Burg, Alexios Konstantinos Balatsoukas Stimming, Georgios Karakonstantis
Polar codes are one of the most recent advancements in coding theory and they have attracted significant interest. While they are provably capacity achieving over various channels, they have seen limited practical applications. Unfortunately, the successiv ...
2014