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cs.RO2026
cuNRTO: GPU-Accelerated Nonlinear Robust Trajectory Optimization
Jiawei Wang, Arshiya Taj Abdul, Evangelos A. Theodorou
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbance…
cs.RO2024
Scaling Robust Optimization for Multi-Agent Robotic Systems: A Distributed Perspective
Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimiza…