https://plancherb1.github.io/tags/semidefinite-programming/ Recent content in Semidefinite Programming on Brian Plancher Hugo -- gohugo.io en-us © {year} Brian Plancher Mon, 13 Jul 2026 00:00:05 +0000 https://plancherb1.github.io/publication/tinysdp/ Mon, 13 Jul 2026 00:00:05 +0000 https://plancherb1.github.io/publication/tinysdp/ We introduce TinySDP, the first semidefinite programming solver designed for embedded systems, enabling real-time model-predictive control (MPC) on microcontrollers for problems with nonconvex obstacle constraints. Our approach integrates positive-semidefinite cone projections into a cached-Riccati-based ADMM solver, leveraging computational structure for embedded tractability. We pair this solver with an a posteriori rank-1 certificate that converts relaxed solutions into explicit geometric guarantees at each timestep. On challenging benchmarks, e.g., cul-de-sac and dynamic obstacle avoidance scenarios that induce failures in local methods, TinySDP achieves collision-free navigation with up to 73% shorter paths than state-of-the-art baselines. We validate our approach on a Crazyflie quadrotor, demonstrating that semidefinite constraints can be enforced at real-time rates for agile embedded robotics.