A new semidefinite relaxation jointly optimizes trajectories, control inputs, and time scaling for linear and piecewise-affine systems, and extends to mode-sequence optimization via graphs of convex sets.
Time-optimal trajectory generation for dynamic vehicles: A bilevel optimization approach,
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A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
A new semidefinite relaxation jointly optimizes trajectories, control inputs, and time scaling for linear and piecewise-affine systems, and extends to mode-sequence optimization via graphs of convex sets.