Soy: An Efficient MILP Solver for Piecewise-Affine Systems

Haoze Wu,Min Wu,Dorsa Sadigh,Clark Barrett,Haoze Wu,Min Wu,Dorsa Sadigh,Clark Barrett

Piecewise-affine (PWA) systems are widely used for modeling and control of robotics problems including modeling contact dynamics. A common approach is to encode the control problem of the PWA system as a Mixed-Integer Convex Program (MICP), which can be solved by general-purpose off-the-shelf MICP solvers. To mitigate the scalability challenge of solving these MICP problems, existing work focuses ...