Publications

76 / 3,799 publications found.


  •  Shirai, Y., Raghunathan, A., Jha, D.K., "Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations", arXiv, March 2025.
    BibTeX arXiv
    • @article{Shirai2025mar,
    • author = {Shirai, Yuki and Raghunathan, Arvind and Jha, Devesh K.},
    • title = {{Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations}},
    • journal = {arXiv},
    • year = 2025,
    • month = mar,
    • url = {https://arxiv.org/abs/2503.07963}
    • }
  •  Manchiraju, C., Dawande, M., Janakiraman, G., Raghunathan, A., "Dynamic Pricing and Capacity Optimization in Railways", Manufacturing and Service Operations Management, DOI: 10.1287/​msom.2022.0246, Vol. 26, No. 1, pp. 350-369, December 2024.
    BibTeX TR2025-007 PDF
    • @article{Manchiraju2024dec,
    • author = {Manchiraju, Chandrasekhar and Dawande, Milind and Janakiraman, Ganesh and Raghunathan, Arvind},
    • title = {{Dynamic Pricing and Capacity Optimization in Railways}},
    • journal = {Manufacturing and Service Operations Management},
    • year = 2024,
    • volume = 26,
    • number = 1,
    • pages = {350--369},
    • month = dec,
    • doi = {10.1287/msom.2022.0246},
    • url = {https://www.merl.com/publications/TR2025-007}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, DOI: 10.1016/​j.nahs.2024.101466, Vol. 52, December 2024.
    BibTeX TR2024-008 PDF
    • @article{Shirai2024dec,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming}},
    • journal = {Nonlinear Analysis: Hybrid Systems},
    • year = 2024,
    • volume = 52,
    • month = dec,
    • doi = {10.1016/j.nahs.2024.101466},
    • issn = {1751-570X},
    • url = {https://www.merl.com/publications/TR2024-008}
    • }
  •  Raghunathan, A., Linderoth, J., "Stability Analysis of Discrete-Time Linear Complementarity Systems", SIAM Journal on Optimization, December 2024.
    BibTeX TR2025-004 PDF
    • @article{Raghunathan2024dec,
    • author = {Raghunathan, Arvind and Linderoth, Jeffrey},
    • title = {{Stability Analysis of Discrete-Time Linear Complementarity Systems}},
    • journal = {SIAM Journal on Optimization},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-004}
    • }
  •  Cardonha, C., Raghunathan, A., "Coach Reservation for Groups Requests", arXiv, October 2024.
    BibTeX arXiv
    • @article{Cardonha2024oct,
    • author = {Cardonha, Carlos and Raghunathan, Arvind},
    • title = {{Coach Reservation for Groups Requests}},
    • journal = {arXiv},
    • year = 2024,
    • month = oct,
    • url = {https://arxiv.org/abs/2410.23542}
    • }
  •  Sun, H., Kosanic, M., Kawano, S., Raghunathan, A., Kitamura, S., Takaguchi, Y., "Proactive Sequential Phase Swapping Scheduling for Distribution Systems with a Finite Horizon", IEEE PES Asia-Pacific Power and Energy Engineering Conference, October 2024.
    BibTeX TR2024-149 PDF
    • @inproceedings{Sun2024oct,
    • author = {Sun, Hongbo and Kosanic, Miroslav and Kawano, Shunsuke and Raghunathan, Arvind and Kitamura, Shoichi and Takaguchi, Yusuke},
    • title = {{Proactive Sequential Phase Swapping Scheduling for Distribution Systems with a Finite Horizon}},
    • booktitle = {IEEE PES Asia-Pacific Power and Energy Engineering Conference},
    • year = 2024,
    • month = oct,
    • url = {https://www.merl.com/publications/TR2024-149}
    • }
  •  Kosanic, M., Sun, H., Kawano, S., Raghunathan, A., Kitamura, S., "Sequentially Pruning Phase Rebalance Schedule: Load Profile Learning Approach", IEEE PES Innovative Smart Grid Technologies Conference - Europe (ISGT Europe), DOI: 10.1109/​ISGTEUROPE62998.2024.10861894, October 2024.
    BibTeX TR2024-143 PDF
    • @inproceedings{Kosanic2024oct,
    • author = {Kosanic, Miroslav and Sun, Hongbo and Kawano, Shunsuke and Raghunathan, Arvind and Kitamura, Shoichi},
    • title = {{Sequentially Pruning Phase Rebalance Schedule: Load Profile Learning Approach}},
    • booktitle = {IEEE PES Innovative Smart Grid Technologies Conference - Europe (ISGT Europe)},
    • year = 2024,
    • month = oct,
    • doi = {10.1109/ISGTEUROPE62998.2024.10861894},
    • url = {https://www.merl.com/publications/TR2024-143}
    • }
  •  Strahl, W., Raghunathan, A., Sahinidis, N.V., Gounaris, C., "Constructing Tight Quadratic Relaxations for Global Optimization: I. Outer-Approximating Twice-Differentiable Convex Functions", arXiv, August 2024.
    BibTeX arXiv
    • @article{Strahl2024aug,
    • author = {Strahl, William and Raghunathan, Arvind and Sahinidis, Nikolaos V. and Gounaris, Chrysanthose},
    • title = {{Constructing Tight Quadratic Relaxations for Global Optimization: I. Outer-Approximating Twice-Differentiable Convex Functions}},
    • journal = {arXiv},
    • year = 2024,
    • month = aug,
    • url = {https://arxiv.org/abs/2408.13053}
    • }
  •  Strahl, W., Raghunathan, A., Sahinidis, N.V., Gounaris, C., "Constructing Tight Quadratic Relaxations for Global Optimization: II. Underestimating Difference-of-Convex (D.C.) Functions", arXiv, August 2024.
    BibTeX arXiv
    • @article{Strahl2024aug2,
    • author = {Strahl, William and Raghunathan, Arvind and Sahinidis, Nikolaos V. and Gounaris, Chrysanthose},
    • title = {{Constructing Tight Quadratic Relaxations for Global Optimization: II. Underestimating Difference-of-Convex (D.C.) Functions}},
    • journal = {arXiv},
    • year = 2024,
    • month = aug,
    • url = {https://arxiv.org/abs/2408.13058v1}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", arXiv, July 2024.
    BibTeX arXiv
    • @article{Zhang2024jul5,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {{Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry}},
    • journal = {arXiv},
    • year = 2024,
    • month = jul,
    • url = {http://arxiv.org/abs/2407.16976}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", IEEE Transactions on Robotics, DOI: 10.1109/​TRO.2024.3422053, pp. 3425-3444, July 2024.
    BibTeX TR2024-096 PDF Video
    • @article{Shirai2024jul,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {{Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization}},
    • journal = {IEEE Transactions on Robotics},
    • year = 2024,
    • pages = {3425--3444},
    • month = jul,
    • doi = {10.1109/TRO.2024.3422053},
    • issn = {1941-0468},
    • url = {https://www.merl.com/publications/TR2024-096}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR), July 2024.
    BibTeX TR2024-100 PDF
    • @inproceedings{Zhang2024jul3,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {{Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry}},
    • booktitle = {RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-100}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance", IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/​TASE.2024.3365637, pp. 1-16, June 2024.
    BibTeX TR2024-087 PDF
    • @article{Raghunathan2024jun,
    • author = {{{Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego}}},
    • title = {{{PYROBOCOP: Python-based Robotic Control \& Optimization Package for Manipulation and Collision Avoidance}}},
    • journal = {IEEE Transactions on Automation Science and Engineering},
    • year = 2024,
    • pages = {1--16},
    • month = jun,
    • doi = {10.1109/TASE.2024.3365637},
    • issn = {1545-5955},
    • url = {https://www.merl.com/publications/TR2024-087}
    • }
  •  Hall, J.F., Raghunathan, A., "Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10591164, June 2024.
    BibTeX TR2024-080 PDF
    • @inproceedings{Hall2024jun,
    • author = {Hall, Jonas F and Raghunathan, Arvind},
    • title = {{Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10591164},
    • url = {https://www.merl.com/publications/TR2024-080}
    • }
  •  Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644645, June 2024, pp. 299-305.
    BibTeX TR2024-078 PDF
    • @inproceedings{Nayak2024jun,
    • author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {299--305},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644645},
    • url = {https://www.merl.com/publications/TR2024-078}
    • }
  •  Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS55552.2023.10341839, September 2023, pp. 3672-3679.
    BibTeX TR2023-121 PDF Video
    • @inproceedings{Shaw2023sep,
    • author = {Shaw, Seiji and Jha, Devesh K. and Raghunathan, Arvind and Corcodel, Radu and Romeres, Diego and Konidaris, George and Nikovski, Daniel},
    • title = {{Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2023,
    • pages = {3672--3679},
    • month = sep,
    • publisher = {IEEE},
    • doi = {10.1109/IROS55552.2023.10341839},
    • issn = {2153-0866},
    • isbn = {978-1-6654-9190-7},
    • url = {https://www.merl.com/publications/TR2023-121}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
    BibTeX TR2023-120 PDF
    • @inproceedings{Shirai2023sep,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {{Contact-Aware Covariance Control of Stochastic Contact-Rich Systems}},
    • booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2023-120}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning", Robotics: Science and Systems (RSS), DOI: 10.15607/​RSS.2023.XIX.044, July 2023.
    BibTeX TR2023-078 PDF Video
    • @inproceedings{Zhang2023jul,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {{Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning}},
    • booktitle = {Robotics: Science and Systems (RSS)},
    • year = 2023,
    • month = jul,
    • doi = {10.15607/RSS.2023.XIX.044},
    • url = {https://www.merl.com/publications/TR2023-078}
    • }
  •  Raghunathan, A., Bergman, D., Hooker, J., Serra, T., Kobori, S., "Seamless Multimodal Transportation Scheduling", Informs Journal on Computing, DOI: 10.1287/​ijoc.2019.0163, Vol. 36, No. 2, pp. 336-358, June 2023.
    BibTeX TR2023-076 PDF
    • @article{Raghunathan2023jun,
    • author = {Raghunathan, Arvind and Bergman, David and Hooker, John and Serra, Thiago and Kobori, Shingo},
    • title = {{Seamless Multimodal Transportation Scheduling}},
    • journal = {Informs Journal on Computing},
    • year = 2023,
    • volume = 36,
    • number = 2,
    • pages = {336--358},
    • month = jun,
    • doi = {10.1287/ijoc.2019.0163},
    • url = {https://www.merl.com/publications/TR2023-076}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156516, May 2023, pp. 14-21.
    BibTeX TR2023-061 PDF
    • @inproceedings{Shirai2023may4,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Chance-Constrained Optimization in Contact-rich Systems}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {14--21},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10156516},
    • url = {https://www.merl.com/publications/TR2023-061}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160249, May 2023, pp. 7923-7929.
    BibTeX TR2023-024 PDF
    • @inproceedings{Shirai2023may3,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {{Covariance Steering for Uncertain Contact-Rich Systems}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {7923--7929},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160249},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-024}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Tactile Tool Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160480, May 2023, pp. 12597-12603.
    BibTeX TR2023-023 PDF Video
    • @inproceedings{Shirai2023may2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {{Tactile Tool Manipulation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {12597--12603},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160480},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-023}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Closed-Loop Tactile Controller for Tool Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-043 PDF Video
    • @inproceedings{Shirai2023may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {{Closed-Loop Tactile Controller for Tool Manipulation}},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-043}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-044 PDF
    • @inproceedings{Zhang2023may3,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {{STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation}},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-044}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC51059.2022.9992979, December 2022, pp. 7571-7578.
    BibTeX TR2022-157 PDF
    • @inproceedings{Raghunathan2022dec,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {{Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2022,
    • pages = {7571--7578},
    • month = dec,
    • doi = {10.1109/CDC51059.2022.9992979},
    • url = {https://www.merl.com/publications/TR2022-157}
    • }