collaborators

2 papers

math.OC2026

Reference-Free, Long-Horizon Trajectory Optimization for Aggressive Autonomous Driving in Milliseconds

Prayag Sharma, Jonathan Y. M. Goh, Franck Djeumou

Autonomous vehicles must generate long-horizon and dynamically feasible trajectories in real time-even when operating at the limits of vehicle handling-to ensure safe operation in…

math.OC2026

Transcription-Induced Failure Modes in 6-DOF Rocket Landing Trajectory Optimization

Prayag Sharma, Jonathan Y. M. Goh, Behçet Açıkmeşe +1

Solving optimal control problems via large-scale NLP solvers depends on discretizing continuous dynamics. Yet, this transcription step hides critical vulnerabilities-most notably t…