This paper is concerned with the improved constraints handling in mixed-integer optimization problems. The novel element is the reduction of the number of binary variables used for expressing the complement of a convex (polytopic) region. As a generalization, the problem of representing the complement of a possibly non-connected union of such convex sets is detailed. In order to illustrate the benefits of the proposed improvements, a practical implementation, the problem of obstacle avoidance using receding horizon optimization techniques is considered as test case.
status: unpublished institution: SUPELEC Systems Sciences (E3S) - Automatic Control Department address: 1, Joliot Curie,Gif sur Yvette 91192, France date: February 2011