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Latest

• Publications
• Mixed discrete and continuous planning using shortest walks in graphs of convex sets
• Towards Tight Convex Relaxations for Contact-Rich Manipulation
• Multi-Query Shortest-Path Problem in Graphs of Convex Sets
• Certifying Bimanual RRT Motion Plans in a Second
• Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
• Experience
• Projects
• Certifying Trajectories in Seconds
• Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares