8 citations · 10 across the 4 of their papers we have counts for
5 papers
A Differentiable Signed Distance Representation for Continuous Collision Avoidance in Optimization-Based Motion Planning
James Guthrie
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are contin…
Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance
James Guthrie, Marin Kobilarov, Enrique Mallada
Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation…
Inner and Outer Approximations of Star-Convex Semialgebraic Sets
James Guthrie
We consider the problem of approximating a semialgebraic set with a sublevel-set of a polynomial function. In this setting, it is standard to seek a minimum volume outer approximat…
Inner Approximations of the Positive-Semidefinite Cone via Grassmannian Packings
Tianqi Zheng, James Guthrie, Enrique Mallada
We investigate the problem of finding inner ap-proximations of positive semidefinite (PSD) cones. We developa novel decomposition framework of the PSD cone by meansof conical combi…
Adversarial Model Predictive Control via Second-Order Cone Programming
James Guthrie, Enrique Mallada
We study the problem of designing attacks to safety-critical systems in which the adversary seeks to maximize the overall system cost within a model predictive control framework. A…