Russ Tedrake

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 …

Certified Polyhedral Decompositions of Collision-Free Configuration Space

Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. …

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators

Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a …

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 …