Verschueren, Robin and Zanon, Mario and Quirynen, Rien and Diehl, Moritz
A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control.
SIAM Journal on Optimization, 27 (3).
pp. 2085-2109.
ISSN 1052-6234
(2017)