Publications

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2022
March
PDF Ultra-Fine Pointing for Nanosatellite Telescopes with Actuated Booms
Kevin Tracy, Zac Manchester, and Ewan Douglas
IEEE Aerospace Conference. Big Sky, MT.

March
PDF CPEG: A Convex Predictor-corrector Entry Guidance Algorithm
Kevin Tracy, and Zac Manchester
IEEE Aerospace Conference. Big Sky, MT.
2021
September
PDF Trajectory Optimization with Optimization-Based Dynamics
Taylor Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zac Manchester, and Vikas Sindhwani
arXiv (Submitted)

July
PDF Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h, Taylor Howell, Mac Schwager, and Zac Manchester
arXiv (Submitted)

May
PDF A Dynamics Simulator for Soft Growing Robots
Rianna Jitosho, Nathaniel Agharese, Allison Okamura, and Zac Manchester
International Conference on Robotics and Automation (ICRA). Xi'an, China.

May
PDF Linear-Quadratic Optimal Control in Maximal Coordinates
Jan Bruedigam, and Zac Manchester
International Conference on Robotics and Automation (ICRA). Xi'an, China.

May
PDF Direct Policy Optimization using Deterministic Sampling and Collocation
Taylor Howell, Chunjiang Fu, and Zac Manchester
International Conference on Robotics and Automation (ICRA). Xi'an, China.

May
PDF LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
Simon Le Cleac'h, Mac Schwager, and Zac Manchester
Robotics Automation and Letters (RAL). (Accepted)

May
PDF ALTRO-C: A Fast Solver for Conic Model-Predictive Control
Brian Jackson, Tarun Punnoose, Daniel Neamati, Kevin Tracy, Rianna Jitosho, and Zac Manchester
International Conference on Robotics and Automation (ICRA).

May
PDF Planning with Attitude
Brian Jackson, Kevin Tracy, and Zac Manchester
Robotics Automation and Letters (RAL). (Accepted)

April
PDF ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Simon Le Cleac'h, Mac Schwager, and Zac Manchester
Autonomous Robots (AuRo). (Accepted)

March
Dynamic Biasing for Improved On-Orbit Total-Dose Lifetimes of Commercial Semiconductor Devices
Max Holliday, Thomas Heuser, Zac Manchester, and Debbie Senesky
IEEE Transactions on Nuclear Science (TNS). (Submitted)

March
Robust Quantum Optimal Control with Trajectory Optimization
Thomas Propson, Brian Jackson, Jens Koch, Zac Manchester, and David I Schuster
arXiv (arXiv).

March
PDF Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels
Remy Derollez, Simon Le Cleac'h, and Zac Manchester
IEEE Aerospace Conference (AeroConf2021). Big Sky, MT.

February
PDF Low-Thrust Trajectory Optimization Using the Kustaanheimo-Stiefel Transformation
Kevin Tracy, and Zac Manchester
AAS/AIAA Space Flight Mechanics Meeting. Charlotte, NC.
2020
August
PDF Model-Predictive Attitude Control for Flexible Spacecraft During Thruster Firings
Kevin Tracy, and Zac Manchester
AAS/AIAA Astrodynamics Specialist Conference. South Lake Tahoe, CA.

July
PDF ALGAMES: A Fast Solver for Constrained Dynamic Games
Simon Le Cleac'h, Mac Schwager, and Zac Manchester
Robotics: Science and Systems (RSS). Corvallis, OR.

June
PDF Linear-Time Variational Integrators in Maximal Coordinates
Jan Bruedigam, and Zac Manchester
Workshop on the Algorithmic Foundations of Robotics (WAFR). Oulu, Finland.

June
PDF Structured Mechanical Models for Robot Learning and Control
Jayesh Gupta, Kunal Menda, Zac Manchester, and Mykel Kochenderfer
Conference on Learning for Dynamics and Control (L4DC). Berkeley, CA.

May
PDF Scalable Cooperative Transport of Cable-Suspended Loads with UAV's using Distributed Trajectory Optimization
Brian Jackson, Taylor Howell, Kunal Shah, Mac Schwager, and Zac Manchester
International Conference on Robotics and Automation (ICRA). Paris, France.

February
PDF Sample-Based Robust Uncertainty Propagation for Entry Vehicles
Remy Derollez, and Zac Manchester
AAS Guidance, Navigation, and Control Conference Breckenridge, CO.
2019
November
PDF ALTRO: A Fast Solver for Constrained Trajectory Optimization
Taylor Howell, Brian Jackson, and Zac Manchester
International Conference on Intelligent Robots and Systems (IROS). Macao, China.

October
PDF Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zac Manchester, and Marco Pavone
Internation Symposium on Robotics Research (ISRR).

August
PDF Magnetorquer-Only Attitude Control of Small Satellites using Trajectory Optimization
Andrew Gatherer, and Zac Manchester
AAS/AIAA Astrodynamics Specialist Conference Portland, Maine.

August
PDF Fast Solution of Optimal Control Problems with L1 Cost
Simon Le Cleac'h, and Zac Manchester
AAS/AIAA Astrodynamics Specialist Conference Portland, Maine.

August
PDF PyCubed: An Open-Source, Radiation-Tested CubeSat Platform Programmable Entirely in Python
Max Holliday, Andrea Ramirez, Connor Settle, Tane Tatum, Debbie Senesky, and Zac Manchester
AIAA/USU Conference on Small Satellites (SmallSat). Logan, Utah.

June
PDF A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zac Manchester, and Marco Pavone
Robotics: Science and Systems (RSS).

May
Contact-Implicit Trajectory Optimization Using Variational Integrators
Zac Manchester, Neel Doshi, Robert J Wood, and Scott Kuindersma
The International Journal of Robotics Research (IJRR).

February
PDF A General Framework for Structured Learning of Mechanical Systems
Jayesh K. Gupta, Kunal Menda, Zac Manchester, and Mykel J. Kochenderfer
arXiv
2018
July
PDF Robust Direct Trajectory Optimization Using Approximate Invariant Funnels
Zac Manchester, and Scott Kuindersma
Autonomous Robots

June
PDF Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zac Manchester, Robert J Wood, and Scott Kuindersma
Robotics: Science and Systems (RSS). Pittsburgh, Pennsylvania.

May
Handedness in Shearing Auxetics Creates Rigid and Compliant Structures
Jeffery Ian Lipton, Robert MacCurdy, Zac Manchester, Lillian Chin, Daniel Cellucci, and Daniela Rus
Science 360(6389)
2017
December
PDF Variational Contact-Implicit Trajectory Optimization
Zac Manchester, and Scott Kuindersma
International Symposium on Robotics Research (ISRR). Puerto Varas, Chile.

September
PDF Constrained Unscented Dynamic Programming
Brian Plancher, Zac Manchester, and Scott Kuindersma
International Conference on Intelligent Robots and Systems (IROS). Vancouver, Canada.

July
PDF DIRTREL: Robust Trajectory Optimization with Ellipsoidal Distrubances and LQR Feedback
Zac Manchester, and Scott Kuindersma
Robotics: Science and Systems (RSS). Cambridge, Massachusetts.

June
PDF Planning Cuts for Mobile Robots with Bladed Tools
Jeffery Lipton, Zac Manchester, and Daniela Rus
International Conference on Robotics and Automation (ICRA). Singapore.

March
PDF Stability of a Light Sail Riding on a Laser Beam
Zac Manchester, and Abraham Loeb
The Astrophysical Journal 837(2)

January
PDF Recursive Inertia Estimation With Semidefinite Programming
Zac Manchester, and Mason Peck
AIAA Guidance, Navigation and Control Conference Grapevine, Texas.

January
PDF A Variable Forward-Sweep Wing Design for Enhanced Perching in Micro Aerial Vehicles
Zac Manchester, Jeffery Lipton, Robert Wood, and Scott Kuindersma
AIAA Aerospace Sciences Meeting Grapevine, Texas.
2016
December
PDF Derivative-Free Trajectory Optimization with Unscented Dynamic Programming
Zac Manchester, and Scott Kuindersma
IEEE Conference on Decision and Control (CDC).

June
How Do You Fly to Alpha Centauri in Just 20 Years? Ride a Laser Beam
and Zac Manchester
IEEE Spectrum

February
PDF Lyapunov-Based Control for Flat-Spin Recovery and Spin Inversion of Spin-Stabilized Spacecraft
and Zac Manchester
AAS/AIAA Astrodynamics Specialist Conference Long Beach, California.

January
PDF Quaternion Variational Integrators for Spacecraft Dynamics
Zac Manchester, and Mason Peck
Journal of Guidance, Control, and Dynamics 39(1)
2013
August
PDF KickSat: A Crowd-Funded Mission to Demonstrate the World's Smallest Spacecraft
Zac Manchester, Mason Peck, and Andrew Filo
AIAA/USU Conference on Small Satellites Logan, Utah.