KernelSOS

Kernel-based Sum-of-Squares Optimization for Robotics

KernelSOS is a kernel-based sum-of-squares optimization framework for robotics applications (Groudiev et al., 2025-2026).

Illustration of the principle of Kernel Sum-of-Squares Optimization. A polynomial nonnegativity constraint is relaxed to a kernel-based constraint, leading to a scalable optimization framework.

References

  1. ACC26
    Sampling-Based Global Optimal Control and Estimation via Semidefinite Programming
    Antoine Groudiev, Fabian Schramm, Éloïse Berthier, Justin Carpentier, and Frederike Dümbgen
    2026 American Control Conference (ACC), 2025-2026
    IEEE RAS-TC Best Poster Award PDF Poster Slides