Autonomy Talks - Tobia Marcucci: A Tutorial on Graphs of Convex Sets (GCS)
Автор: Autonomy Talks
Загружено: 2025-11-18
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Autonomy Talks - 11/18/25
Speaker: Prof. Tobia Marcucci, UCSB
Title: A Tutorial on Graphs of Convex Sets (GCS)
Abstract: In this talk, I will give a tutorial on graphs of convex sets, with emphasis on their applications in robotics, planning, and, more broadly, decision making. Mathematically, a Graph of Convex Sets (GCS) is a graph in which vertices are associated with convex optimization problems and edges couple pairs of these problems through additional convex costs and constraints. Classical problems defined over ordinary weighted graphs (such as the shortest path, the traveling salesman, and the minimum spanning tree) naturally generalize to a GCS, giving rise to a rich class of problems at the interface of combinatorial and convex optimization. I will first discuss how GCS problems can be solved efficiently, and then show how they naturally encompass multiple core problems in robotics, planning, scheduling, and decision making. Finally, I will present GCSOPT, an open-source and easy-to-use Python library that enables solving real-world GCS problems in just a few lines of code.
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