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Career

· Researcher/PhD Student, MIT Robot Locomotion Group2024–

Publications (29)

Motion planning around obstacles with convex optimization
Science Robotics · 2022
204
cited
Shortest Paths in Graphs of Convex Sets
SIAM Journal on Optimization · 2021
107
cited
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems
IEEE Transactions on Automatic Control · 2019
76
cited
Approximate hybrid model predictive control for multi-contact push recovery in complex environments
IEEE-RAS International Conference on Humanoid Robots · 2017
72
cited
Mixed-integer formulations for optimal control of piecewise-affine systems
International Conference on Hybrid Systems: Computation and Control · 2019
57
cited
Fast Path Planning Through Large Collections of Safe Boxes
IEEE Transactions on robotics · 2023
35
cited
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs
IEEE International Conference on Robotics and Automation · 2023
29
cited
Towards Tight Convex Relaxations for Contact-Rich Manipulation
Robotics: Science and Systems · 2024
28
cited
A Two-Stage Trajectory Optimization Strategy for Articulated Bodies With Unscheduled Contact Sequences
IEEE Robotics and Automation Letters · 2017
25
cited
Model-Based Control with Sparse Neural Dynamics
Neural Information Processing Systems · 2023
21
cited
Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots
International Symposium of Robotics Research · 2019
12
cited
Multi-Query Shortest-Path Problem in Graphs of Convex Sets
arXiv.org · 2024
11
cited
Towards minimum-information adaptive controllers for robot manipulators
American Control Conference · 2017
7
cited
A biconvex method for minimum-time motion planning through sequences of convex sets
Robotics · 2025
4
cited
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
IEEE International Conference on Robotics and Automation · 2025
4
cited
On the Sample Complexity of Imitation Learning for Smoothed Model Predictive Control
IEEE Conference on Decision and Control · 2023
3
cited
Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets
arXiv.org · 2025
2
cited
Approximate explicit model predictive control for push recovery using mixed-integer convex optimization
2017
1
cited
A Unified and Scalable Method for Optimization over Graphs of Convex Sets
arXiv.org · 2025
Improved Sample Complexity of Imitation Learning for Barrier Model Predictive Control
arXiv.org · 2024
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Tobia Marcucci | Researcher Profile | Sotabase | Sotabase