Alexandre Amice
  • Projects
  • Publication List
  • Teaching
  • CV
  • Projects
    • CCosmo: A Custom First-Order Conic Solver
    • VEGA: Decomposition Solver for Graphs of Convex Sets
    • Certifying Trajectories in Seconds
    • Certified Polyhedral Descriptions of Configuration Space
    • Efficient Linear Algebra
    • Resilient Behavior Through Optimization
    • Scheduling with Constraints
  • Publications
    • A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
    • Mixed discrete and continuous planning using shortest walks in graphs of convex sets
    • Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
    • Certifying Bimanual RRT Motion Plans in a Second
    • Multi-Query Shortest-Path Problem in Graphs of Convex Sets
    • Towards Tight Convex Relaxations for Contact-Rich Manipulation
    • Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
    • Certified Polyhedral Decompositions of Collision-Free Configuration Space
    • Discrete Approximate Information States in Partially Observable Environments
    • Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
    • Solving Least Squares Problems on Partially Ordered Sets
    • Approximately supermodular scheduling subject to matroid constraints
    • Resilient control: Compromising to adapt
    • Matroid-constrained approximately supermodular optimization for near-optimal actuator scheduling
  • Experience
  • Teaching
    • 6.S098, IAP 2022 -- Applied Convex Optimization

A Framework for Combining Optimization-Based and Analytic Inverse Kinematics

Feb 4, 2026·
Thomas Cohn
,
Lihan Tang
,
Alexandre Amice
,
Russ Tedrake
· 0 min read
publication
Last updated on Feb 4, 2026
Authors
Thomas Cohn
Authors
Lihan Tang
Authors
Alexandre Amice
Authors
Russ Tedrake
Mixed discrete and continuous planning using shortest walks in graphs of convex sets Jan 1, 2025 →

© 2026 Alexandre Amice. This work is licensed under CC BY NC ND 4.0

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