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cs.RO2026
Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
eess.SY2026
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
Mohamed Khalid M Jaffar
The cart-pole swing-up is a canonical benchmark for nonlinear control of underactuated systems, yet an end-to-end guarantee linking the global swing-up maneuver to the local stabil…