Mixed-Integer Linear
Programming for Control


Department of Aeronautics and Astronautics
Aerospace Controls Laboratory
Massachusetts Institute of Technology


Slides for 2005 ACC tutorial on Mixed-integer Programming for Control (RHTA Movie)
by Arthur Richards and Jonathan P. How

Mixed-integer linear programming (MILP) is a very general framework for capturing problems with both discrete decisions and continuous variables. This includes:

You can obtain some sample code for trajectory design and assignment problem for UAV guidance. It requires Matlab and AMPL/CPLEX system to run the code. The MILP problems are sized down so that AMPL/CPLEX student version can solve them.