Publications

On the Accessibility and Controllability of Statistical Linearization for Stochastic Control: Algebraic Rank Conditions and their Genericity

Risk-Averse Trajectory Optimization via Sample Average Approximation

Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control

First-Order Pontryagin Maximum Principle for Risk-Averse Stochastic Optimal Control Problems

Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently

Sequential convex programming for non-linear stochastic optimal control

Risk-sensitive safety analysis using Conditional Value-at-Risk*

Risk-sensitive safety analysis using Conditional Value-at-Risk

Optimal Control of Endo-Atmospheric Launch Vehicle Systems: Geometric and Computational Issues

Continuity of Pontryagin Extremals with Respect to Delays in Nonlinear Optimal Control

Exact Characterization of the Convex Hulls of Reachable Sets

Using Spectral Submanifolds for Nonlinear Periodic Control

A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis

Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems

Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space

Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization

Learning-based Warm-Starting for Fast Sequential Convex Programming and Trajectory Optimization

Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach

GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming

The Dubins Car Problem with Delay and Applications to Aeronautics Motion Planning Problems

Optimal Control of Aerospace Systems with Control-State Constraints and Delays

Optimal control of aerospace systems with control-state constraints and delays