A measure-based convex relaxation, built from graphs of convex sets, provides near-optimal lower bounds and scalable mode planning for hybrid optimal control.
Efficient Conversion of Mixed Logical Dynamical Sys- tems Into an Equivalent Piecewise Affine Form,
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Optimal Control of Hybrid Systems via Measure Relaxations
A measure-based convex relaxation, built from graphs of convex sets, provides near-optimal lower bounds and scalable mode planning for hybrid optimal control.