3 citations · 4 across the 9 of their papers we have counts for
12 papers
Semidefinite Relaxations for Collision-Free Motion Planning
Bernhard Paus Graesdal, Alexandre Amice, Pablo A. Parrilo +1
We study semidefinite relaxations for collision-free motion planning. We focus on a point robot moving from start to goal through spherical obstacles in , subject to…
A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
Thomas Cohn, Lihan Tang, Alexandre Amice +1
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary st…
Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Bernhard Paus Graesdal +3
We study the Shortest-Walk Problem (SWP) in a Graph of Convex Sets (GCS). A GCS is a graph where each vertex is paired with a convex program, and each edge couples adjacent program…
Multi-Query Shortest-Path Problem in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Alexandre Amice +4
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant pro…
Towards Tight Convex Relaxations for Contact-Rich Manipulation
Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci +4
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such t…
Certifying Bimanual RRT Motion Plans in a Second
Alexandre Amice, Peter Werner, Russ Tedrake
We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include…
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
Peter Werner, Alexandre Amice, Tobia Marcucci +2
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion p…
Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
Lujie Yang, Hongkai Dai, Alexandre Amice +1
Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can…
Certified Polyhedral Decompositions of Collision-Free Configuration Space
Hongkai Dai, Alexandre Amice, Peter Werner +2
Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. Whi…
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Alexandre Amice, Hongkai Dai, Peter Werner +2
Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a po…
Resilient Control: Compromising to Adapt
Luiz F. O. Chamon, Alexandre Amice, Santiago Paternain +1
In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible f…
Approximately Supermodular Scheduling Subject to Matroid Constraints
Luiz F. O. Chamon, Alexandre Amice, Alejandro Ribeiro
Control scheduling refers to the problem of assigning agents or actuators to act upon a dynamical system at specific times so as to minimize a quadratic control cost, such as the o…