CDC 2025

At CDC 2025, Etienne Bührle represented the MRT with the following paper: Optimal Control of Hybrid Systems via Measure Relaxations, Etienne Buehrle, Ömer Şahin Taş and Christoph Stiller We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation measures, resulting in a convex optimization problem resembling the discrete shortest-paths linear program that can be solved efficiently to global optimality.