Alexandre Amice

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

Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares

Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can …

Solving Least Squares Problems on Partially Ordered Sets

We study a general class of least-squares problems structured according to a partially ordered set (poset). This is a fundamental optimization problem underlying the design of …

Discrete Approximate Information States in Partially Observable Environments

The notion of approximate information states (AIS) was introduced in (Subramanian 2020) as a methodology for learning task-relevant state representations for control in partially …

Approximately supermodular scheduling subject to matroid constraints

Control scheduling refers to the problem of assigning agents or actuators to act upon a dynamical system at specific times so as to minimize a quadratic control cost, such as the …

Resilient control: Compromising to adapt

— In optimal control problems, disturbances are typically dealt with using robust solutions, such as H∞ or tube model predictive control, that plan control actions feasible for the …