Let (QP ) be an integer quadratic program that consists in minimizing a quadratic function subject to linear constraints. In this paper, we present several linearizations of (QP ). Many linearization methods for the quadratic 0-1 programs are known. A natural approach when considering (QP ) is to reformulate it into a quadratic 0-1 program. However, this method, that we denote BBL (Binary Binar...

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

Measuring and managing risk has become crucial in modern decision making under stochastic uncertainty. In two-stage stochastic programming, mean risk models are essentially defined by a parametric recourse problem and a quantification of risk. From the perspective of qualitative robustness theory, we discuss sufficient conditions for continuity of the resulting objective functions with respect ...

We study mixed integer nonlinear programs (MINLP)s that are driven by a collection of indicator variables where each indicator variable controls a subset of the decision variables. An indicator variable, when it is “turned off”, forces some of the decision variables to assume fixed values, and, when it is “turned on”, forces them to belong to a convex set. Many practical MINLPs contain integer ...

A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixed integer linear inequalities. As a result, the MPC is designed by solving a Mixed-integer Quadratic Programming proble...

This paper deals with Mixed Logical Dynamical (MLD) approach. It allows to model the hybrid systems involved continuous, discrete dynamics and constraints. The changes or the switches which may appear over such dynamics are modelled by using the auxiliary variables take into account the interconnections. The applicability of this approach is illustrated by the modelling of the two tank system. ...