Robuta

https://stanford.edu/~boyd/papers/miqp_admm.html

A Simple Effective Heuristic for Embedded Mixed-Integer Quadratic Programming

quadratic programming simple effective heuristic embedded

https://stanford.edu/~boyd/papers/quad_adp_inp_aff.html

Quadratic Approximate Dynamic Programming for Input-Affine Systems

dynamic programming quadratic approximate input affine