Alexandre Amice
Alexandre Amice
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Conference paper
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2023
2022
2021
2020
2019
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
Cite
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
Cite
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
Cite
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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Project
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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Project
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
Cite
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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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 …
Luiz FO Chamon
,
Alexandre Amice*
,
Santiago Paternain
,
Alejandro Ribeiro
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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 …
Luiz FO Chamon
,
Alexandre Amice*
,
Alejandro Ribeiro
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