4 accepted papers
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to design collision-free trajectories using fast convex optimiz…
We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include those generated by popular randomized methods including RRTs and PRMs, as well as those generated by many methods in tra…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the motion-planning problem as a shortest-path problem in a grap…
Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works (Lasserre et al., 2008), (Jiang and Jiang, 2015), we demonstrate that SOS can synthesize dynamic controllers with bounded suboptimal performance for