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cs.RO2025
Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
Akshay Jaitly, Devesh K. Jha, Kei Ota +1
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However,…
cs.RO2025
Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
Akshay Jaitly, Jon Arrizabalaga, Guanrui Li
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space in…
cs.RO2024
Galileo: A Pseudospectral Collocation Framework for Legged Robots
Ethan Chandler, Akshay Jaitly, Mahdi Agheli
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization fra…