publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2025

  1. Constrained Articulated Body Dynamics Algorithms for Closed-Loop Mechanisms
    Ajay Suresha Sathya, and Justin Carpentier
    IEEE Transactions on Robotics (Accepted for Publication), 2025
    PDF
  2. Constrained Articulated Body Dynamics Algorithms
    Ajay Suresha Sathya, and Justin Carpentier
    IEEE Transactions on Robotics, 2025
    DOI PDF
  3. 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

  1. 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
  2. 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
  3. 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

  1. 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

  1. 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
  2. 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
  3. 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

  1. 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
  2. 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

  1. 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

  1. 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