Combinatorial stabilization and reach-avoid filters enforce r-out-of-p contingency requirements using CLFs and Hamilton-Jacobi sets with only p+1 constraints.
Clarabel: An interior-point solver for conic programs with quadratic objectives
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Multi-horizon MPC and rate-reduction strategies for packetized control over lossy channels deliver recursive feasibility guarantees and bandwidth savings validated in hardware.
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Steering with Contingencies: Combinatorial Stabilization and Reach-Avoid Filters
Combinatorial stabilization and reach-avoid filters enforce r-out-of-p contingency requirements using CLFs and Hamilton-Jacobi sets with only p+1 constraints.
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Bandwidth reduction methods for packetized MPC over lossy networks
Multi-horizon MPC and rate-reduction strategies for packetized control over lossy channels deliver recursive feasibility guarantees and bandwidth savings validated in hardware.