RCOA relaxes big-M obstacle-avoidance binaries into continuous penalties to get a convex MPC, but the approach is a known relaxation and the claimed proof is circular.
Inter-sample avoidance in trajectory optimizers using mixed-integer linear programming,
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A Convex Obstacle Avoidance Formulation
RCOA relaxes big-M obstacle-avoidance binaries into continuous penalties to get a convex MPC, but the approach is a known relaxation and the claimed proof is circular.