Author

T. Padır

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Preprint Oct 2026

Continuous-Time Safe Planning and Control for Agile Quadrupeds

Agile quadruped navigation in dynamic environments demands trajectories that are both dynamically feasible and provably collision-free. Most real-time planners achieve tractability through a convex reduction that requires simplified kinematic models, discarding motion that the robot can readily execute, and certify saf...

Gage MacLin, Mason B. Peterson, Camilla Tabasso et al. · 0 citations

Preprint Aug 2026

Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations

Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with continuous trajectories. The Graphs of Convex Sets (GCS) framework offers a practical solution to these problems. It represents discrete decis...

Ananya Trivedi, Sarvesh Prajapati, Zhe-Xin Xu et al. · 0 citations

#graph neural networks Preprint Aug 2026

Accelerating Mixed Discrete-Continuous Motion Planning via Neural Graphs of Convex Sets

This work replaces the costly convex relaxation step required by nominal GCS with a single forward pass through a Graph Attention Network that predicts a set of highly probable candidate paths through the graph, and generates a lightweight ranking network that orders these candidates by their estimated trajectory cost.

Ananya Trivedi, Sarvesh Prajapati, M. K. M. Jaffar et al. · 0 citations