Publications

Statistical Linearization for Robust Motion Planning

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

Stabilization and Optimal Control of Interconnected SDE – Scalar PDE System

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

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

Sequential convex programming for non-linear stochastic optimal control

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

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