In this work, the author presents a method called Convex Model Predictive Control (CMPC) to control systems whose states are elements of the rotation matrices SO(n) for n = 2, 3. This is done without charts or any local linearization, and instead is performed by operating over the orbitope of rotation matrices. This results in a novel model predictive control (MPC) scheme without the drawbacks associated with conventional linearization techniques such as slow computation time and local minima. Of particular emphasis is the application to aeronautical and vehicular systems, wherein the method removes many of the trigonometric terms associated with these systems’ state space equations. Furthermore, the method is shown to be compatible with many existing variants of MPC, including obstacle avoidance via Mixed Integer Linear Programming (MILP).
Research into the structure and application of the convex hulls of @math has increased recently, a body of literature that the current paper builds upon. In @cite_3 , the authors study the structure of convex bodies of Lie groups broadly. In @cite_4 the structure of the convex hull of @math is studied in detail, yielding semidefinite descriptions of the convex hull for arbitrary @math , and also uses these parameterizations to solve Wahba's problem, a common estimation problem in aeronautical navigation. In computer vision, the authors of @cite_5 investigated the convex relaxation is pose estimation problems, integrating convex penalties to create novel convex optimization problems. The techniques were also integrated with decentralization schemes in @cite_8 to create a distributed algorithm for consensus over @math .
@cite_5 @cite_4 @cite_3 @cite_8
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We study the convex-hull problem in a probabilistic setting, motivated by the need to handle data uncertainty inherent in many applications, including sensor databases, location-based services and computer vision. In our framework, the uncertainty of each input site is described by a probability distribution over a finite number of possible locations including a location to account for non-existence of the point. Our results include both exact and approximation algorithms for computing the probability of a query point lying inside the convex hull of the input, time-space tradeoffs for the membership queries, a connection between Tukey depth and membership queries, as well as a new notion of @math -hull that may be a useful representation of uncertain hulls. We study the convex-hull problem in a probabilistic setting, motivated by the need to handle data uncertainty inherent in many applications, including sensor databases, location-based services and computer vision. In our framework, the uncertainty of each input point is described by a probability distribution over a finite number of possible locations including a null location to account for non-existence of the point. Our results include both exact and approximation algorithms for computing the probability of a query point lying inside the convex hull of the input, time–space tradeoffs for the membership queries, a connection between Tukey depth and membership queries, as well as a new notion of ( )-hull that may be a useful representation of uncertain hulls. In applications throughout science and engineering one is often faced with the challenge of solving an ill-posed inverse problem, where the number of available measurements is smaller than the dimension of the model to be estimated. However in many practical situations of interest, models are constrained structurally so that they only have a few degrees of freedom relative to their ambient dimension. This paper provides a general framework to convert notions of simplicity into convex penalty functions, resulting in convex optimization solutions to linear, underdetermined inverse problems. The class of simple models considered includes those formed as the sum of a few atoms from some (possibly infinite) elementary atomic set; examples include well-studied cases from many technical fields such as sparse vectors (signal processing, statistics) and low-rank matrices (control, statistics), as well as several others including sums of a few permutation matrices (ranked elections, multiobject tracking), low-rank tensors (computer vision, neuroscience), orthogonal matrices (machine learning), and atomic measures (system identification). The convex programming formulation is based on minimizing the norm induced by the convex hull of the atomic set; this norm is referred to as the atomic norm. The facial structure of the atomic norm ball carries a number of favorable properties that are useful for recovering simple models, and an analysis of the underlying convex geometry provides sharp estimates of the number of generic measurements required for exact and robust recovery of models from partial information. These estimates are based on computing the Gaussian widths of tangent cones to the atomic norm ball. When the atomic set has algebraic structure the resulting optimization problems can be solved or approximated via semidefinite programming. The quality of these approximations affects the number of measurements required for recovery, and this tradeoff is characterized via some examples. Thus this work extends the catalog of simple models (beyond sparse vectors and low-rank matrices) that can be recovered from limited linear information via tractable convex programming. We discuss a new conceptual framework for the convexification of discrete optimization problems, and a general technique for obtaining approximations to the convex hull of the feasible set. The concepts come from disjunctive programming and the key tool is a description of the convex hull of a union of polyhedra in terms of a higher dimensional polyhedron. Although this description was known for several years, only recently was it shown by Jeroslow and Lowe to yield improved representations of discrete optimization problems. We express the feasible set of a discrete optimization problem as the intersection (conjunction) of unions of polyhedra, and define an operation that takes one such expression into another, equivalent one, with fewer conjuncts. We then introduce a class of relaxations based on replacing each conjunct (union of polyhedra) by its convex hull. The strength of the relaxations increases as the number of conjuncts decreases, and the class of relaxations forms a hierarchy that spans the spec...