Publications

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2020
PDF Scalable Cooperative Transport of Cable-Suspended Loads with UAVs Using Distributed Trajectory Optimization.
Brian E Jackson, Taylor A Howell, Kunal Shah, Mac Schwager, and Zachary Manchester.
International Conference on Robotics and Automation (In Review).
2020
PDF ALGAMES: A Fast Solver for Constrained Dynamic Games.
Simon Le Cleac'h, Mac Schwager, and Zachary Manchester.
International Conference on Robotics and Automation (In Review).
2019
November
PDF ALTRO: A Fast Solver for Constrained Trajectory Optimization.
Taylor A Howell, Brian E Jackson, and Zachary Manchester.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
2019
November
PDF Fast Solution of Optimal Control Problems with L1 Cost.
Simon Le Cleac'h and Zachary Manchester.
AAS/AIAA Astrodynamics Specialist Conference.
2019
October
PDF Bilevel Optimization for Planning through Contact: A Semidirect Method.
Benoit Landry, Joseph Lorenzetti, Zachary Manchester, and Marco Pavone.
International Symposium on Robotics Research (ISRR).
2019
August
PDF Magnetorquer-Only Attitude Control of Small Satellites Using Trajectory Optimization.
Andrew Gatherer and Zachary Manchester.
AAS/AIAA Astrodynamics Specialist Conference.
2019
August
PDF PyCubed: An Open-Source, Radiation-Tested CubeSat Platform Programmable Entirely in Python.
Maximillian Holliday, Andrea Ramirez, Connor Settle, Tane Tatum, Debbie Senesky, and Zachary Manchester.
AIAA/USU Conference on Small Satellites (SmallSat).
2019
June
PDF A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization.
Benoit Landry, Zachary Manchester, and Marco Pavone.
Robotics: Science and Systems (RSS).
2019
May
Contact-Implicit Trajectory Optimization Using Variational Integrators.
Zachary Manchester, Neel Doshi, Robert J Wood, and Scott Kuindersma.
The International Journal of Robotics Research (IJRR).
2019
February
PDF A General Framework for Structured Learning of Mechanical Systems.
Jayesh K. Gupta, Kunal Menda, Zachary Manchester, and Mykel J. Kochenderfer.
arXiv.
2018
July
PDF Robust Direct Trajectory Optimization Using Approximate Invariant Funnels.
Zachary Manchester and Scott Kuindersma.
Autonomous Robots.
2018
June
PDF Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot.
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J Wood, and Scott Kuindersma.
Robotics: Science and Systems (RSS).
2018
May
Handedness in Shearing Auxetics Creates Rigid and Compliant Structures.
Jeffrey Ian Lipton, Robert MacCurdy, Zachary Manchester, Lillian Chin, Daniel Cellucci, and Daniela Rus.
Science 360(6389).
2017
December
PDF Variational Contact-Implicit Trajectory Optimization.
Zachary Manchester and Scott Kuindersma.
International Symposium on Robotics Research (ISRR).
2017
September
PDF Constrained Unscented Dynamic Programming.
Brian Plancher, Zachary Manchester, and Scott Kuindersma.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
2017
July
PDF DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback.
Zachary Manchester and Scott Kuindersma.
Robotics: Science and Systems (RSS).
2017
June
PDF Planning Cuts for Mobile Robots with Bladed Tools.
Jeffrey Lipton, Zachary Manchester, and Daniela Rus.
International Conference on Robotics and Automation (ICRA).
2017
March
PDF Stability of a Light Sail Riding on a Laser Beam.
Zachary Manchester and Abraham Loeb.
The Astrophysical Journal 837(2).
2017
January
PDF A Variable Forward-Sweep Wing Design for Enhanced Perching in Micro Aerial Vehicles.
Zachary Manchester, Jeffrey Lipton, Robert Wood, and Scott Kuindersma.
AIAA Aerospace Sciences Meeting.
2017
January
PDF Recursive Inertia Estimation With Semidefinite Programming.
Zachary Manchester and Mason Peck.
AIAA Guidance, Navigation, and Control Conference.
2016
December
PDF Derivative-Free Trajectory Optimization with Unscented Dynamic Programming.
Zachary Manchester and Scott Kuindersma.
IEEE Conference on Decision and Control (CDC).
2016
June
How Do You Fly to Alpha Centauri in Just 20 Years? Ride a Laser Beam.
Zachary Manchester.
IEEE Spectrum.
2016
February
PDF Lyapunov-Based Control for Flat-Spin Recovery and Spin Inversion of Spin-Stabilized Spacecraft.
Zachary Manchester.
AAS/AIAA Astrodynamics Specialist Conference.
2016
January
PDF Quaternion Variational Integrators for Spacecraft Dynamics.
Zachary 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.
Zachary Manchester, Mason Peck, and Andrew Filo.
AIAA/USU Conference on Small Satellites.