ICRA and RA-L Papers
Tuesday 9:00am-10:30am – Poster Session
- Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC by Ishaan Mahajan, Khai Nguyen, Sam Schoedel, Elakhya Nedumaran, Moises Mata, Brian Plancher and Zachary Manchester (TuI1I.186)
- RoboPrec: Enabling Reliable Embedded Computing for Robotics by Providing Accuracy Guarantees across Mixed-Precision Datatypes by Alp Eren Yilmaz, Lillian Pentecost, Thomas Bourgeat, Brian Plancher and Sabrina M. Neuman (TuI1I.377)
Tuesday 3:00pm-4:30pm – Poster Session
- pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning by Chih Huang, Pranav Jadhav, Brian Plancher and Zachary Kingston (TuI2I.243)
Wednesday 9:00am-10:30am – Poster Session
- TAG-K: Tail-Averaged Greedy Kaczmarz for Computationally Efficient and Performant Online Inertial Parameter Estimation by Shuo “Chris” Sha, Anupam Bhakta, Justin Jiang, Kevin Qiu, Ishaan Mahajan, Gabriel Bravo Palacios and Brian Plancher (WeI1I.307)
Thursday 3:00pm-4:30pm – Poster Session
- GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control by Alexander Du, Emre Adabag, Gabriel Bravo-Palacios and Brian Plancher (ThI2I.218)
Workshop Papers
Monday - Frontiers of Optimization for Robotics
- Differentiable and Constrained Model Predictive Control on the GPU by Gabriel Bravo-Palacios, Jianghan Zhang, Zachary Pestrikov, Brian Plancher, Thomas Lew – early results from our recently announced TRI University 3.0 Project
- pAORRTC: GPU-Parallel Almost-Surely Asymptotically Optimal Planning by Chih Huang, Zachary Kingston and Brian Plancher – an extension to pRRTC
- End-to-End Hardware-Algorithm Co-Design for High-Rate FPGA-Accelerated MPC on Tiny Drones by Andrea Grillo and Brian Plancher
Friday - RoboARCH: Robotics Acceleration with Computing Hardware and Systems
- Differentiable and Constrained Model Predictive Control on the GPU by Gabriel Bravo-Palacios, Jianghan Zhang, Zachary Pestrikov, Brian Plancher, Thomas Lew – early results from our recently announced TRI University 3.0 Project
- TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics by Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo, Fausto Vega, James Anderson, Zachary Manchester and Brian Plancher – accepted to RSS 2026
- pAORRTC: GPU-Parallel Almost-Surely Asymptotically Optimal Planning by Chih Huang, Zachary Kingston and Brian Plancher – an extension to pRRTC
- Provably Accurate Fixed-Point Arithmetic for Robotics Accelerators by Alp Eren Yilmaz, Lillian Pentecost, Thomas Bourgeat, Brian Plancher and Sabrina M. Neuman – an extension to RoboPrec
- End-to-End Hardware-Algorithm Co-Design for High-Rate FPGA-Accelerated MPC on Tiny Drones by Andrea Grillo and Brian Plancher
- Redacted for Double-Blind Review by Tanmay Desai, Ruth Iris Bahar and Brian Plancher