Publications

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2024 December	Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC Sam Schoedel, Khai Nguyen, Elakhya Nedumaran, Brian Plancher, and Zac Manchester Conference on Decision and Control (CDC). Milan, Italy. (In Review)
December	Contingency-Aware Station-Keeping Control of Halo Orbits Fausto Vega, Zac Manchester, Martin Lo, and Ricardo Restrepo Conference on Decision and Control (CDC). Milan, Italy. (In Review)
October	Differentiable Collision-Free Parametric Corridors Jon Arrizabalaga, Zachary Manchester, and Markus Ryll International Conf. on Intelligent Robots and Systems (IROS). Abu Dhabi, UAE. (Accepted)
October	Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots Zixin Zhang, John Zhang, Shuo Yang, and Zac Manchester arXiv (In Review)
October	Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control Juan Alvarez Padilla, John Zhang, Sofia Kwok, John M. Dolan, and Zac Manchester arXiv (In Review)
October	From Pixels to Torques with Linear Feedback Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj, and Zachary Manchester International Workshop on the Algorithmic Foundations of Robotics (WAFR). Chicago, IL. (Accepted)
October	CAPO: Control and Actuator Placement Optimization for Large-Scale Problems with Nonlinear Dynamics Mitchell B. Fogelson, Giusy Falcone, and Zachary Manchester International Workshop on the Algorithmic Foundations of Robotics (WAFR). Chicago, IL. (Accepted)
June	A Convex Formulation of the Soft-Capture Problem Ibrahima S. Sow, Geordan Gutow, Howie Choset, and Zac Manchester IEEE International Conference on Space Robotics (iSpaRo). Luxembourg, Luxembourg. (Accepted)
June	From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers Swaminathan Gurumurthy, Karnik Ram, Bingqing Chen, Zac Manchester, and Zico Kolter Conference on Computer Vision and Pattern Recognition (CVPR). Seattle, WA. (Accepted)
May	SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos John Zhang, Shuo Yang, Gengshan Yang, Arun Bishop, Swaminathan Gurumurthy, Deva Ramanan, and Zac Manchester Robotics and Automation Letters (RA-L) & International Conference on Robotics and Automation (ICRA)
May	ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control Arun Bishop, John Zhang, Swaminathan Gurumurthy, Kevin Tracy, and Zac Manchester International Conference on Robotics and Automation (ICRA). Yokohama, Japan. (Accepted)
May	TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers Khai Nguyen, Sam Schoedel, Anoushka Alavilli, Brian Plancher, and Zac Manchester International Conference on Robotics and Automation (ICRA). Yokohama, Japan. (Accepted)
May	VINSat: Solving the Lost-in-Space Problem with Visual Inertial Navigation Kyle McCleary, Swaminathan Gurumurthy, Paulo Fisch, Saral Tayal, Zac Manchester, and Brandon Lucia IEEE International Conference on Robotics and Automation (ICRA). Yokohama, Japan. (Accepted)
March	High-Expansion-Ratio Deployable Structures for Long Duration Space Missions Mitchell Fogelson, Sawyer Thomas, Giusy Falcone, Jeffery Lipton, and Zac Manchester IEEE Aerospace Conference (Accepted)
March	An Architecture Study for Low-Power Satellite-Based Wildlife Tracking Fausto Vega, James Phillips, Kathryn Lampo, Robert MacCurdy, and Zac Manchester IEEE Aerospace Conference (Accepted)
March	A Massively Parallel Method for Fast Computation of Invariant Manifolds Fausto Vega, Martin Lo, Zac Manchester, and Jon Sims IEEE Aerospace Conference (Accepted)
March	Building a Better B-Dot: Fast Detumbling with Non-Monotonic Lyapunov Functions Jacob Willis, Paulo Fisch, Aleksei Seletskiy, and Zac Manchester IEEE Aerospace Conference (Accepted)
2023 December	Efficient Online Learning of Contact Force Models for Connector Insertion Kevin Tracy, Zac Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, and Yuval Tassa arXiv (In Review)
October	PPR: Physically Plausible Reconstruction from Monocular Videos Gengshan Yang, Shuo Yang, John Zhang, Zac Manchester, and Deva Ramanan IEEE International Conference on Computer Vision (ICCV). Paris, France.
October	Multi-IMU Proprioceptive Odometry for Legged Robots (Best Paper Award Finalist) Shuo Yang, Zixin Zhang, Ben Bokser, and Zac Manchester International Conference on Intelligent Robots and Systems (IROS). Detriot, MI.
August	Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h, Taylor Howell, Shuo Yang, Chiyen Lee, John Zhang, Arun Bishop, Mac Schwager, and Zac Manchester IEEE Transactions on Robotics (Conditionally Accepted)
June	Practical Critic Gradient based Actor Critic for On-Policy Reinforcement Learning Swaminathan Gurumurthy, Zac Manchester, and Zico Kolter Learning for Dynamics and Control Conference (L4DC). Philadelphia, PA. (Accepted)
June	Deep Off-Policy Iterative Learning Control Swaminathan Gurumurthy, Zico Kolter, and Zac Manchester Learning for Dynamics and Control Conference (L4DC). Philadelphia, PA. (Accepted)
May	Differentiable Collision Detection for a Set of Convex Primitives Kevin Tracy, Taylor Howell, and Zac Manchester International Conference on Robotics and Automation (ICRA). London.
May	Enhanced Balance for Legged Robots Using Reaction Wheels Chiyen Lee, Shuo Yang, Ben Bokser, and Zac Manchester International Conference on Robotics and Automation (ICRA). London.
May	Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion Shuo Yang, Zixin Zhang, Zhengyu Fu, and Zac Manchester International Conference on Robotics and Automation (ICRA). London.
May	Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications Jeong Hun (JJ) Lee, Mike Y. Michelis, Robert Katzschmann, and Zac Manchester International Conference on Robotics and Automation (ICRA). London.
May	Direct Collocation for Quantum Optimal Control Aaron Trowbridge, Aditya Bhardwaj, Kevin He, David I. Schuster, and Zac Manchester IEEE International Conference on Quantum Computing and Engineering Seattle, WA. (Best Paper Award)
March	Convex Optimization of Relative Orbit Maneuvers Using the Kustaanheimo-Stiefel Transformation Jacob Willis, and Zac Manchester IEEE Aerospace Conference. Big Sky, MT.
January	Robust Entry Guidance with Atmospheric Adaptation Kevin Tracy, Giusy Falcone, and Zac Manchester AIAA SciTech Forum and Exposition. National Harbor, MD.
2022 September	Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic Mode Decomposition Brian Jackson, Jeong Hun (JJ) Lee, Kevin Tracy, and Zac Manchester The Conference on Robot Learning (CoRL)
June	Online Kinematic Calibration for Legged Robots Shuo Yang, Howie Choset, and Zac Manchester IEEE Robotics and Automation Letters & IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
May	The V-R3x Mission: Towards Autonomous Networking and Navigation for CubeSat Swarms Max Holliday, Kevin Tracy, Zac Manchester, and Anh Nguyen The 4S Symposium. Vilamoura, Portugal.
May	CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints Taylor Howell, Kevin Tracy, Simon Le Cleac'h, and Zac Manchester arXiv (submitted)
March	Dojo: A Differentiable Simulator for Robotics Taylor Howell, Simon Le Cleac'h, Zico Kolter, Mac Schwager, and Zac Manchester arXiv (submitted)
March	Ultra-Fine Pointing for Nanosatellite Telescopes with Actuated Booms Kevin Tracy, Zac Manchester, and Ewan Douglas IEEE Aerospace Conference. Big Sky, MT.
March	CPEG: A Convex Predictor-corrector Entry Guidance Algorithm Kevin Tracy, and Zac Manchester IEEE Aerospace Conference. Big Sky, MT.
2021 September	Trajectory Optimization with Optimization-Based Dynamics Taylor Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zac Manchester, and Vikas Sindhwani Robotics and Automation Letters
May	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	Linear-Quadratic Optimal Control in Maximal Coordinates Jan Bruedigam, and Zac Manchester International Conference on Robotics and Automation (ICRA). Xi'an, China.
May	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	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	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	Planning with Attitude Brian Jackson, Kevin Tracy, and Zac Manchester Robotics Automation and Letters (RAL). (Accepted)
April	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	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	Low-Thrust Trajectory Optimization Using the Kustaanheimo-Stiefel Transformation Kevin Tracy, and Zac Manchester AAS/AIAA Space Flight Mechanics Meeting. Charlotte, NC.
2020 August	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	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	Linear-Time Variational Integrators in Maximal Coordinates Jan Bruedigam, and Zac Manchester Workshop on the Algorithmic Foundations of Robotics (WAFR). Oulu, Finland.
June	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	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	Sample-Based Robust Uncertainty Propagation for Entry Vehicles Remy Derollez, and Zac Manchester AAS Guidance, Navigation, and Control Conference Breckenridge, CO.
2019 November	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	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	Magnetorquer-Only Attitude Control of Small Satellites using Trajectory Optimization Andrew Gatherer, and Zac Manchester AAS/AIAA Astrodynamics Specialist Conference Portland, Maine.
August	Fast Solution of Optimal Control Problems with L1 Cost Simon Le Cleac'h, and Zac Manchester AAS/AIAA Astrodynamics Specialist Conference Portland, Maine.
August	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	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	A General Framework for Structured Learning of Mechanical Systems Jayesh K. Gupta, Kunal Menda, Zac Manchester, and Mykel J. Kochenderfer arXiv
2018 July	Robust Direct Trajectory Optimization Using Approximate Invariant Funnels Zac Manchester, and Scott Kuindersma Autonomous Robots
June	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	Variational Contact-Implicit Trajectory Optimization Zac Manchester, and Scott Kuindersma International Symposium on Robotics Research (ISRR). Puerto Varas, Chile.
September	Constrained Unscented Dynamic Programming Brian Plancher, Zac Manchester, and Scott Kuindersma International Conference on Intelligent Robots and Systems (IROS). Vancouver, Canada.
July	DIRTREL: Robust Trajectory Optimization with Ellipsoidal Distrubances and LQR Feedback Zac Manchester, and Scott Kuindersma Robotics: Science and Systems (RSS). Cambridge, Massachusetts.
June	Planning Cuts for Mobile Robots with Bladed Tools Jeffery Lipton, Zac Manchester, and Daniela Rus International Conference on Robotics and Automation (ICRA). Singapore.
March	Stability of a Light Sail Riding on a Laser Beam Zac Manchester, and Abraham Loeb The Astrophysical Journal 837(2)
January	Recursive Inertia Estimation With Semidefinite Programming Zac Manchester, and Mason Peck AIAA Guidance, Navigation and Control Conference Grapevine, Texas.
January	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	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	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	Quaternion Variational Integrators for Spacecraft Dynamics Zac Manchester, and Mason Peck Journal of Guidance, Control, and Dynamics 39(1)
2013 August	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.