3 citations · 4 across the 9 of their papers we have counts for
4 papers · 1 filter
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…