A method converts arbitrary logic constraints into smooth max-min constraints via auxiliary simplex variables, claimed to preserve the solution set, demonstrated on quadrotor control.
On the conversion of optimization problems with max-min constraints to standard optimization prob- lems,
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Smooth Logic Constraints in Nonlinear Optimization and Optimal Control Problems
A method converts arbitrary logic constraints into smooth max-min constraints via auxiliary simplex variables, claimed to preserve the solution set, demonstrated on quadrotor control.