A new smoothing method, GRASHS, extends the RASHS trajectory optimization approach to handle arbitrary boolean logic (AND, OR, NOT) by converting it to disjunctive normal form and embedding it in smooth equations of motion.
Optimal start-up of an evaporation system modeled as an interconnected hybrid dynamical system
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Indirect Optimization of Multi-Phase Trajectories Involving Arbitrary Discrete Logic
A new smoothing method, GRASHS, extends the RASHS trajectory optimization approach to handle arbitrary boolean logic (AND, OR, NOT) by converting it to disjunctive normal form and embedding it in smooth equations of motion.