Imperial College London


Faculty of EngineeringDepartment of Chemical Engineering

Professor of Process Systems Engineering



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BibTex format

author = {Feng, X and Villanueva, ME and Chachuat, B and Houska, B},
doi = {10.1109/CDC.2017.8263749},
publisher = {IEEE},
title = {Branch-and-Lift algorithm for obstacle avoidance control},
url = {},
year = {2017}

RIS format (EndNote, RefMan)

AB - Obstacle avoidance problems are a class of non-convex optimal control problems for which derivative-based optimization algorithms often fail to locate global minima. The goal of this paper is to provide a tutorial on how to apply Branch & Lift algorithms, a novel class of global optimal control methods, for solving such obstacle avoidance problems to global optimality. The focus of the technical developments is on how Branch & Lift methods can exploit the particular structure of Dubin models, which can be used to model a variety of practical obstacle avoidance problems. The global convergence properties of Branch & Lift in the context of obstacle avoidance is discussed from a theoretical as well as a practical perspective by applying it to a tutorial example.
AU - Feng,X
AU - Villanueva,ME
AU - Chachuat,B
AU - Houska,B
DO - 10.1109/CDC.2017.8263749
PY - 2017///
SN - 0743-1546
TI - Branch-and-Lift algorithm for obstacle avoidance control
UR -
UR -
UR -
ER -