Tobia Marcucci
Tobia Marcucci
PhD candidate, MIT
Verified email at - Homepage
Cited by
Cited by
Approximate hybrid model predictive control for multi-contact push recovery in complex environments
T Marcucci, R Deits, M Gabiccini, A Bicchi, R Tedrake
Humanoid Robotics (Humanoids), 2017 IEEE-RAS 17th International Conference …, 2017
Mixed-Integer Formulations for Optimal Control of Piecewise-Affine Systems
T Marcucci, R Tedrake
22nd ACM International Conference on Hybrid Systems: Computation and Control …, 2019
Warm start of mixed-integer programs for model predictive control of hybrid systems
T Marcucci, R Tedrake
IEEE Transactions on Automatic Control 66 (6), 2433-2448, 2020
A two-stage trajectory optimization strategy for articulated bodies with unscheduled contact sequences
T Marcucci, M Gabiccini, A Artoni
IEEE Robotics and Automation Letters 2 (1), 104-111, 2016
Motion planning around obstacles with convex optimization
T Marcucci, M Petersen, D von Wrangel, R Tedrake
arXiv preprint arXiv:2205.04422, 2022
Shortest paths in graphs of convex sets
T Marcucci, J Umenberger, PA Parrilo, R Tedrake
arXiv preprint arXiv:2101.11565, 2021
Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots
T Marcucci, M Garabini, GM Gasparri, A Artoni, M Gabiccini, A Bicchi
Towards minimum-information adaptive controllers for robot manipulators
T Marcucci, C Della Santina, M Gabiccini, A Bicchi
2017 American Control Conference (ACC), 4209-4214, 2017
Fast Path Planning Through Large Collections of Safe Boxes
T Marcucci, P Nobel, R Tedrake, S Boyd
arXiv preprint arXiv:2305.01072, 2023
Approximate explicit model predictive control for push recovery using mixed-integer convex optimization
R Deits, T Marcucci, L Manuelli, T Koolen, R Tedrake
Smooth Model Predictive Control with Applications to Statistical Learning
K Ahn, D Pfrommer, J Umenberger, T Marcucci, Z Mhammedi, ...
arXiv preprint arXiv:2306.01914, 2023
Direct Trajectory Optimization of Robotic Mechanical Systems with Unscheduled Contact Sequences
T Marcucci, M Gabiccini, H Marino
Shortest Paths in Graphs of Convex Sets, and Their Applications in Motion Planning and Control
T Marcucci
2023 Joint Mathematics Meetings (JMM 2023), 0
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