SCP: Sequential Convex Program

Main Methods of Sequential Convex Programming to Solve Real-time Optimal Control Problems

D. Morgan, G. P. Subramanian, S.-J. Chung, and F. Y. Hadaegh, "Swarm Assignment and Trajectory Optimization Using Variable-Swarm, Distributed Auction Assignment and Sequential Convex Programming," The International Journal of Robotics Research, vol. 35, no. 10, September 2016, pp. 1261–1285. (PDF) (Supplementary Video) Preliminary version won 2015 AIAA GNC Best Paper Award.

D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming," Journal of Guidance, Control, and Dynamics, vol. 37, no. 6, 2014, pp. 1725-1740. (PDF)

R. C. Foust, S.-J. Chung, and F. Y. Hadaegh, “Optimal Guidance and Control with Nonlinear Dynamics Using Sequential Convex Programming,” Journal of Guidance, Control, and Dynamics, to appear, 2019. (PDF)

Motion Planning with Stochastic Nonlinear Dynamics and Chance Constraints

Y. K. Nakka and S.-J. Chung, “Trajectory Optimization for Chance-Constrained Nonlinear Stochastic Systems,” Proc. the 2019 IEEE Conference on Decision and Control (CDC), Nice, France, December 11-13, 2019.

Earlier Work

D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Spacecraft Swarm Guidance Using a Sequence of Decentralized Convex Optimizations," AIAA/AAS Astrodynamics Specialist Conference, Minneapolis, MN, August, 2012, AIAA-2012-4583.

D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Decentralized Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming," Proc. 23rd AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii, February 10-14, 2013, AAS 13-439.

D. Morgan, G. P. Subramanian, S. Bandyopadhyay, S.-J. Chung, F. Y. Hadaegh, "Probabilistic Guidance of Distributed Systems using Sequential Convex Programming," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, Sept. 14-18, 2014, pp. 3850-3857.

Convex Program for Stochastic Nonlinear Dynamics

A. P. Dani, S.-J. Chung, and S. Hutchinson, "Observer Design for Stochastic Nonlinear Systems via Contraction-based Incremental Stability," IEEE Transactions on Automatic Control, vol. 60, no. 3, March 2015, pp. 700-714. (PDF)

H. Tsukamoto and S.-J. Chung, “Robust Controller Design for Stochastic Nonlinear Systems via Convex Optimization,” under review, 2019.

H. Tsukamoto and S.-J. Chung, “Convex Optimization-based Controller Design for Stochastic Nonlinear Systems using Contraction Analysis,” Proc. the 2019 IEEE Conference on Decision and Control (CDC), Nice, France, December 11-13, 2019.

Control and Filtering of Stochastic Nonlinear Dynamics

S. Han and S.-J. Chung, “Incremental Nonlinear Stability Analysis for Stochastic Systems Perturbed by Levy Noise,” under review, 2020.

S. Bandyopadhyay and S.-J. Chung, "Distributed Bayesian Filtering using Logarithmic Opinion Pool for Dynamic Sensor Networks," Automatica, vol. 97, November 2018, pp. 7-17. (PDF)

H. Tsukamoto and S.-J. Chung, “Robust Controller Design for Stochastic Nonlinear Systems via Convex Optimization,” under review, 2019.