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 …

In order for a bimanual robot to manipulate an object that is held by both hands, it must
construct motion plans such that the transformation between its end effectors remains fixed …

We present two quadrotor raceline optimization approaches which differ in using Euclidean
or non-Euclidean geometry to describe vehicle position. Both approaches use high-fidelity …

Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by
decomposing the planning space into convex sets, forming a graph to encode the adjacency …

This research addresses the trajectory planning challenges for autonomous vehicles
navigating obstacles within confined environments. Utilizing numerical optimal control …

This thesis introduces a new class of problems at the interface of combinatorial and convex
optimization. We consider graphs where each vertex is paired with a convex program, and …

Ship berthing is one of the most challenging operations for crews, involving optimal
trajectory generation and intricate harbor maneuvering at low speed. In this paper, we …

We propose a motion planner for quadrotor unmanned aerial vehicles (UAVs) implemented
as a graph search over robust positive invariant (PI) sets. We model the positional error …

Abstract Unmanned Aerial Vehicles (UAVs), initially developed for military applications,
have now become indispensable tools across various civilian sectors. To accomplish flight …

This paper introduces an innovative planner for prioritized multi-agent motion planning,
employing a sequential integration of spatial and temporal designs. The planner initiates a …