CVXPYgen accepts CVXPY problems that are compliant with Disciplined Convex Programming (DCP). DCP is a system for constructing mathematical expressions with known curvature from a given library of ...

Agile flight is significant for target tracking, search and rescue, and delivery applications. To achieve agile flight, we can exploit the actuator’s potential by utilizing the full dynamics of the ...

We present a new method for planning footstep placements for a robot walking on uneven terrain with obstacles, using a mixed-integer quadratically-constrained quadratic program (MIQCQP). Our approach ...