2026 Matrix-Free Delassus Operations: Scalable and Memory-Efficient Algorithms Ajay Suresha Sathya, Louis Montaut, Yann Mont-Marin, and Justin Carpentier 2026 PDF Constrained Articulated Body Dynamics Algorithms for Closed-Loop Mechanisms Ajay Suresha Sathya, and Justin Carpentier IEEE Transactions on Robotics, 2026 DOI PDF 2025 Constrained Articulated Body Dynamics Algorithms Ajay Suresha Sathya, and Justin Carpentier IEEE Transactions on Robotics, 2025 DOI PDF Efficient Algorithms for Whole-Body and Second-Order Robot Trajectory Optimization Ajay Suresha Sathya, Lander Vanroye, Wilm Decre, and Jan Swevers 2025 DOI PDF 2024 Efficient Constrained Dynamics Algorithms Based on an Equivalent LQR Formulation Using Gauss’ Principle of Least Constraint Ajay Suresha Sathya, Herman Bruyninckx, Wilm Decré, and Goele Pipeleers IEEE Transactions on Robotics, 2024 DOI PDF PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix Ajay Suresha Sathya, Wilm Decré, and Jan Swevers IEEE Robotics and Automation Letters, 2024 DOI PDF Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective Bruce Wingo, Ajay Suresha Sathya, Stéphane Caron, Seth Hutchinson, and Justin Carpentier In Proceedings of Robotics: Science and Systems, Jul 2024 DOI PDF 2023 FATROP: A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control Lander Vanroye, Ajay Sathya, Joris De Schutter, and Wilm Decré In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jul 2023 DOI PDF 2022 Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills Ajay Suresha Sathya, Alejandro Astudillo, Joris Gillis, Wilm Decré, Goele Pipeleers, and Jan Swevers In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jul 2022 DOI PDF A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions Ajay Suresha Sathya, Wilm Decre, Goele Pipeleers, and Jan Swevers In 2022 International Conference on Robotics and Automation (ICRA), Jul 2022 DOI PDF A Web-Based Graphical User Interface for Programming Optimal Control Based Robot Motion Tasks Alejandro Astudillo, Ajay Sathya, Dries Dirckx, Wilm Decré, Joris Gillis, Goele Pipeleers, and Jan Swevers IFAC-PapersOnLine, Jul 2022 9th IFAC Symposium on Mechatronic Systems MECHATRONICS 2022 DOI PDF 2021 A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions Ajay Suresha Sathya, Goele Pipeleers, Wilm Decré, and Jan Swevers IEEE Robotics and Automation Letters, Jul 2021 DOI PDF Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains Vahid Mokhtari, Ajay Suresha Sathya, Nikolaos Tsiogkas, and Wilm Decré In 2021 20th International Conference on Advanced Robotics (ICAR), Jul 2021 DOI PDF 2020 Real-time Robot Arm Motion Planning and Control with Nonlinear Model Predictive Control using Augmented Lagrangian on a First-Order Solver Ajay Suresha Sathya, Joris Gillis, Goele Pipeleers, and Jan Swevers In 2020 European Control Conference (ECC), Jul 2020 DOI PDF 2018 Embedded nonlinear model predictive control for obstacle avoidance using PANOC Ajay Sathya, Pantelis Sopasakis, Ruben Van Parys, Andreas Themelis, Goele Pipeleers, and Panagiotis Patrinos In 2018 European Control Conference (ECC), Jul 2018 DOI PDF