{"id":"https://openalex.org/W4413926043","doi":"https://doi.org/10.1109/icra55743.2025.11128850","title":"A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling","display_name":"A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926043","doi":"https://doi.org/10.1109/icra55743.2025.11128850"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030823926","display_name":"Lujie Yang","orcid":"https://orcid.org/0000-0002-1392-1971"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lujie Yang","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018909196","display_name":"Tobia Marcucci","orcid":"https://orcid.org/0000-0001-8249-0434"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tobia Marcucci","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031935416","display_name":"Pablo A. Parrilo","orcid":"https://orcid.org/0000-0003-1132-8477"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pablo A. Parrilo","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russ Tedrake","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030823926"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35205709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9228","last_page":"9235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9811999797821045,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.7259697318077087},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.614808976650238},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6066713929176331},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5635794401168823},{"id":"https://openalex.org/keywords/semidefinite-programming","display_name":"Semidefinite programming","score":0.5570526719093323},{"id":"https://openalex.org/keywords/semidefinite-embedding","display_name":"Semidefinite embedding","score":0.5225003361701965},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.5202528238296509},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.5103489756584167},{"id":"https://openalex.org/keywords/affine-combination","display_name":"Affine combination","score":0.47319385409355164},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4533308744430542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36020195484161377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3416483700275421},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3328680098056793},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2805790305137634},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.1658484935760498},{"id":"https://openalex.org/keywords/quadratically-constrained-quadratic-program","display_name":"Quadratically constrained quadratic program","score":0.14489874243736267},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0899849534034729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07945722341537476}],"concepts":[{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.7259697318077087},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.614808976650238},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6066713929176331},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5635794401168823},{"id":"https://openalex.org/C101901036","wikidata":"https://www.wikidata.org/wiki/Q2269096","display_name":"Semidefinite programming","level":2,"score":0.5570526719093323},{"id":"https://openalex.org/C206818286","wikidata":"https://www.wikidata.org/wiki/Q7449403","display_name":"Semidefinite embedding","level":4,"score":0.5225003361701965},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.5202528238296509},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.5103489756584167},{"id":"https://openalex.org/C207221997","wikidata":"https://www.wikidata.org/wiki/Q938614","display_name":"Affine combination","level":3,"score":0.47319385409355164},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4533308744430542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36020195484161377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3416483700275421},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3328680098056793},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2805790305137634},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.1658484935760498},{"id":"https://openalex.org/C65148998","wikidata":"https://www.wikidata.org/wiki/Q7268373","display_name":"Quadratically constrained quadratic program","level":3,"score":0.14489874243736267},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0899849534034729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07945722341537476},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W653291882","https://openalex.org/W1601512022","https://openalex.org/W1605218591","https://openalex.org/W1945123189","https://openalex.org/W1967184028","https://openalex.org/W1967344706","https://openalex.org/W1995356523","https://openalex.org/W1996215314","https://openalex.org/W2000714860","https://openalex.org/W2015149365","https://openalex.org/W2073591687","https://openalex.org/W2073787051","https://openalex.org/W2080132051","https://openalex.org/W2102488278","https://openalex.org/W2105340458","https://openalex.org/W2128314847","https://openalex.org/W2158140581","https://openalex.org/W2158455580","https://openalex.org/W2162218551","https://openalex.org/W2164642883","https://openalex.org/W2233656699","https://openalex.org/W2335306738","https://openalex.org/W2414767203","https://openalex.org/W2482392012","https://openalex.org/W2767578104","https://openalex.org/W2774366155","https://openalex.org/W2783859738","https://openalex.org/W2940189798","https://openalex.org/W2974854892","https://openalex.org/W3003717015","https://openalex.org/W3032792332","https://openalex.org/W3045293006","https://openalex.org/W3123076862","https://openalex.org/W3185165122","https://openalex.org/W3193478200","https://openalex.org/W3206336571","https://openalex.org/W4282913827","https://openalex.org/W4292510839","https://openalex.org/W4385403764","https://openalex.org/W4385430502","https://openalex.org/W4385430612","https://openalex.org/W4386703032","https://openalex.org/W4388692454","https://openalex.org/W4401041664","https://openalex.org/W4402354156"],"related_works":["https://openalex.org/W2385886188","https://openalex.org/W2288891047","https://openalex.org/W2524928742","https://openalex.org/W2362452378","https://openalex.org/W2353517195","https://openalex.org/W2502765915","https://openalex.org/W2301037881","https://openalex.org/W2095039100","https://openalex.org/W2573381094","https://openalex.org/W2246876178"],"abstract_inverted_index":{"We":[0,80],"introduce":[1],"a":[2,56,65,97,101,133,155],"semidefinite":[3,47,143,157],"relaxation":[4,39,48,136,144],"for":[5,49,116],"optimal":[6],"control":[7],"of":[8,58,67,103,137],"linear":[9],"systems":[10,89],"with":[11,141,145],"time":[12,29,146],"scaling.":[13],"These":[14],"problems":[15,153],"are":[16],"inherently":[17],"nonconvex,":[18],"since":[19],"the":[20,27,32,44,59,76,92,117,121,125,138],"system":[21,33],"dynamics":[22,127],"involves":[23],"bilinear":[24,61],"products":[25],"between":[26],"discretization":[28],"step":[30],"and":[31,35,63,120],"state":[34],"controls.":[36],"The":[37],"proposed":[38],"is":[40],"closely":[41],"related":[42],"to":[43,69,85],"standard":[45],"second-order":[46],"quadratic":[50],"constraints,":[51],"but":[52],"we":[53,148],"carefully":[54],"select":[55],"subset":[57],"possible":[60],"terms":[62],"apply":[64],"change":[66],"variables":[68],"achieve":[70],"empirically":[71],"tight":[72,134],"relaxations":[73],"while":[74],"keeping":[75],"computational":[77],"load":[78],"light.":[79],"further":[81],"extend":[82],"our":[83,142],"method":[84],"handle":[86],"piecewise-affine":[87],"(PWA)":[88],"by":[90],"formulating":[91],"PWA":[93,118,151],"optimal-control":[94,152],"problem":[95,99,140],"as":[96],"shortest-path":[98],"in":[100],"graph":[102],"convex":[104,122,135],"sets":[105,123],"(GCS).":[106],"In":[107],"this":[108],"GCS,":[109],"different":[110,113],"paths":[111],"represent":[112],"mode":[114],"sequences":[115],"system,":[119],"model":[124],"relaxed":[126],"within":[128],"each":[129],"mode.":[130],"By":[131],"combining":[132],"GCS":[139],"scaling,":[147],"can":[149],"solve":[150],"through":[154],"single":[156],"program.":[158]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}