3 papers
cs.RO2026
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo +4
Semidefinite programming (SDP) provides a principled framework for convex relaxations of nonconvex geometric constraints in motion planning, yet existing solvers are too computatio…
cs.RO2025
Convex Maneuver Planning for Spacecraft Collision Avoidance
Fausto Vega, Jon Arrizabalaga, Ryan Watson +1
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-…
cs.RO2024
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System
Jon Arrizabalaga, Fausto Vega, ZbynÄk Å ÃR +2
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path functi…