Strong Convex Relaxations and Tailored Conic Solvers with Applications in Robotics
My MIT EECS dissertation on strong convex relaxations, tailored conic solvers, and scalable optimization methods for robotics.
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1 min read
Certifying Trajectories in Seconds
Formally verifying the safety of complicated trajectories at scale.
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2 min read
Certified Polyhedral Descriptions of Configuration Space
Provably correct descriptions of Configuration Space for collision-free motion planning
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2 min read