Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted ...

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms ...

Recently, the set of decomposition approaches has been extended by stochastic dual dynamic integer programming (SDDiP) [1]. Constructing outer approximations of the value functions using so-called ...

The present work provides a general framework for tree-partitioning problems based on mixed-integer linear programming (MILP). In particular, we present a novel MILP formulation to optimally solve ...