218 citations · 978 across the 73 of their papers we have counts for
77 papers
Robust Planning with Quadratically Constrained State-Dependent Uncertainties
Fabio Spada, Behçet Açıkmeşe
We address robust trajectory-planning problems with state constraints and with control/state-dependent uncertain inputs and measurements. Uncertain inputs and measurements satisfy…
OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package
Christopher R. Hayner, Griffin J. Norris, Fabio Spada +4
Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish complex tasks while satisfying operational and environmental constraints.…
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…
A Sequential Operator-Splitting Framework for Exploration of Nonconvex Trajectory Optimization Solution Spaces
Justin Ganiban, Natalia Pavlasek, Behcet Acikmese
Trajectory optimization methods provide an efficient and reliable means of computing feasible trajectories in nonconvex solution spaces. However, a well-known limitation of these a…
Sequential Convex Programming for 6-DoF Powered Descent Guidance with Continuous-Time Compound State-Triggered Constraints
Samet Uzun, Behcet Acikmese, John M. Carson
This paper presents a sequential convex programming (SCP) framework for ensuring the continuous-time satisfaction of compound state-triggered constraints, a subset of logical speci…
Intrinsic Successive Convexification: Trajectory Optimization on Smooth Manifolds
Spencer Kraisler, Mehran Mesbahi, Behcet Acikmese
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enf…