Alexandre Amice
Alexandre Amice
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2023
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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 …
Alexandre Amice
,
Peter Werner
,
Russ Tedrake
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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 …
Peter Werner
,
Alexandre Amice
,
Tobia Marcucci
,
Daniela Rus
,
Russ Tedrake
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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 …
Lujie Yang
,
Hongkai Dai
,
Alexandre Amice
,
Russ Tedrake
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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 …
Hongkai Dai*
,
Alexandre Amice*
,
Peter Werner
,
Annan Zhang
,
Russ Tedrake
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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 …
Alexandre Amice
,
Pablo Parrilo
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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 …
Alexandre Amice*
,
Hongkai Dai*
,
Peter Werner
,
Annan Zhang
,
Russ Tedrake
PDF
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Project
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 …
Lujie Yang
,
Kaiqing Zhang
,
Alexandre Amice
,
Yunzhu Li
,
Russ Tedrake
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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 …
Luiz FO Chamon
,
Alexandre Amice
,
Alejandro Ribeiro
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Resilient control: Compromising to adapt
— In optimal control problems, disturbances are typically dealt with using robust solutions, such as H∞ or tube model predictive …
Luiz FO Chamon
,
Alexandre Amice
,
Santiago Paternain
,
Alejandro Ribeiro
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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 …
Luiz FO Chamon
,
Alexandre Amice
,
Alejandro Ribeiro
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