Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted ...

The present work provides a general framework for tree-partitioning problems based on mixed-integer linear programming (MILP). In particular, we present a novel MILP formulation to optimally solve ...

Nevertheless, I believe the dynamic partition pruning should work in both cases - when a single record or multiple records are merged without having to type dates explicitly.