1 citations · 1 across the 7 of their papers we have counts for
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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…
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…
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…
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…