4 accepted papers
Rovers have been a mainstay of planetary exploration missions, significantly expanding our knowledge in planetary science. However, past rover missions have involved significant human supervision to oversee rover operations, a state-of-practice that scales poorly for the next generation of missions.…
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex program (MICPs). However, state-of-the-art algorithms are still unable to solve MICPs for control problems quickly enough for online use and existing heuristics can typically only find s
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control setups. In this paper, we present GuSTO (Guaranteed Sequential…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are restricted to Euclidean settings, which precludes their application…