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07/06/2023
Risk-Averse Trajectory Optimization via Sample Average Approximation
Trajectory optimization under uncertainty underpins a wide range of appl...
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05/24/2023
Non-Parametric Learning of Stochastic Differential Equations with Fast Rates of Convergence
We propose a novel non-parametric learning paradigm for the identificati...
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03/30/2023
Exact Characterization of the Convex Hulls of Reachable Sets
We study the convex hulls of reachable sets of nonlinear systems with bo...
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02/27/2023
Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications
We study the problem of estimating the convex hull of the image f(X)⊂ℝ^n...
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09/14/2022
Using Spectral Submanifolds for Nonlinear Periodic Control
Very high dimensional nonlinear systems arise in many engineering proble...
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06/20/2022
Sample Average Approximation for Stochastic Programming with Equality Constraints
We revisit the sample average approximation (SAA) approach for general n...
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12/10/2021
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis
In this work, we analyze an efficient sampling-based algorithm for gener...
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06/16/2021
Convex Optimization for Trajectory Generation
Reliable and efficient trajectory generation methods are a fundamental n...
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01/05/2021
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems
Despite decades of work in fast reactive planning and control, challenge...
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09/10/2020
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control
Through the years, Sequential Convex Programming (SCP) has gained great ...
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09/12/2019
RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning
We present RRT2.0: a simple yet efficient tree-based planner for asympto...
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05/18/2019
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Sequential Convex Programming (SCP) has recently gained popularity as a ...
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03/01/2019