67 citations · 68 across the 14 of their papers we have counts for
16 papers
An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots
Andres C. Torres, Tobia Marcucci, Elliot W. Hawkes
Vine robots navigate cluttered environments by extending from their tip. Although their ability to operate in such environments has been extensively demonstrated, little work has a…
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
Peter Werner, Tobia Marcucci, Daniela Rus
We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to converge, is anytime, and supports derivative constraints to arbitrary…
A Unified and Scalable Method for Optimization over Graphs of Convex Sets
Tobia Marcucci
A Graph of Convex Sets (GCS) is a graph in which vertices are associated with convex programs and edges couple pairs of programs through additional convex costs and constraints. An…
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…
A biconvex method for minimum-time motion planning through sequences of convex sets
Tobia Marcucci, Mathew Halm, Will Yang +2
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. Thi…
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
Lujie Yang, Tobia Marcucci, Pablo A. Parrilo +1
We introduce a semidefinite relaxation for optimal control of linear systems with time scaling. These problems are inherently nonconvex, since the system dynamics involves bilinear…
Improved Sample Complexity of Imitation Learning for Barrier Model Predictive Control
Daniel Pfrommer, Swati Padmanabhan, Kwangjun Ahn +4
Recent work in imitation learning has shown that having an expert controller that is both suitably smooth and stable enables stronger guarantees on the performance of the learned c…
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…
Model-Based Control with Sparse Neural Dynamics
Ziang Liu, Genggeng Zhou, Jeff He +4
Learning predictive models from observations using deep neural networks (DNNs) is a promising new approach to many real-world planning and control problems. However, common DNNs ar…
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…
On the Sample Complexity of Imitation Learning for Smoothed Model Predictive Control
Daniel Pfrommer, Swati Padmanabhan, Kwangjun Ahn +4
Recent work in imitation learning has shown that having an expert controller that is both suitably smooth and stable enables stronger guarantees on the performance of the learned c…
Fast Path Planning Through Large Collections of Safe Boxes
Tobia Marcucci, Parth Nobel, Russ Tedrake +1
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the numbe…
Motion Planning around Obstacles with Convex Optimization
Tobia Marcucci, Mark Petersen, David von Wrangel +1
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered w…
Shortest Paths in Graphs of Convex Sets
Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo +1
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant…
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems
Tobia Marcucci, Russ Tedrake
In hybrid Model Predictive Control (MPC), a Mixed-Integer Quadratic Program (MIQP) is solved at each sampling time to compute the optimal control action. Although these optimizatio…