Publications

Certifying Bimanual RRT Motion Plans in a Second
We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of …
Cite
Certifying Bimanual RRT Motion Plans in a Second
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple …
Cite
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 …
Cite
Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
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 …
PDF Cite Project
Certified Polyhedral Decompositions of Collision-Free Configuration Space
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 …
PDF Cite Project
Solving Least Squares Problems on Partially Ordered Sets
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 …
PDF Cite Project
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
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 …
PDF Cite
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 …
PDF Cite Project
Resilient control: Compromising to adapt
— In optimal control problems, disturbances are typically dealt with using robust solutions, such as H∞ or tube model predictive …
PDF Cite Project
Matroid-constrained approximately supermodular optimization for near-optimal actuator scheduling
This work considers the problem of scheduling actuators to minimize the Linear Quadratic Regulator (LQR) objective. In general, this …
PDF Cite Project