Direct Collocation and Geometric Methods for Robot Trajectory Optimization


  • Dr. Gustavo Arechavaleta
  • Eng. Daniel Cardona


Specifications: laptop with Matlab

Gustavo Arechavaleta received his M.S. degree from Tecnológico de Monterrey (ITESM), Campus Estado de Mexico, in 2003, and his Ph.D. Degree from Institut National des Sciences Appliquées de Toulouse, France, for his work on the computational principles of human walking via optimal control within the GEPETTO Group, Laboratoire d’Analyse et d’Architecture des Systèmes, CNRS, Toulouse, France, in 2007. In Fall 2008 he joined the Robotics and Advanced Manufacturing Group at CINVESTAV, Saltillo, Mexico, where he is a Researcher. In Fall 2015 he spent a year in the Coordinated Science Laboratory at the University of Illinois at Urbana–Champaign as a visiting researcher. His research interests are mainly focused on robot trajectory optimization and vision-based robot navigation.
Daniel Cardona obtained his bachelor’s degree in Mechatronics Engineering in 2016 from Universidad Politécnica de Aguascalientes, Aguascalientes, Mexico. He is a M.Sc. student in Robotics and Advanced Manufacturing at CINVESTAV, Saltillo, Mexico. His research interests include numerical optimal control and machine learning applied to robotic systems.