Embedded nonlinear model predictive control for obstacle avoidance using PANOC. - Ajay Sathya; Pantelis Sopasakis; Ruben Van Parys; Andreas Themelis; Goele Pipeleers; Panagiotis Patrinos (ECC, 2018)

Real-time Robot Arm Motion Planning and Control with Nonlinear Model Predictive Control using Augmented Lagrangian on a First-Order Solver. - Ajay Suresha Sathya; Joris Gillis; Goele Pipeleers; Jan Swevers (ECC, 2020)

Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains. - Vahid Mokhtari; Ajay Suresha Sathya; Nikolaos Tsiogkas; Wilm Decré (ICAR, 2021)

A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions. - Ajay Suresha Sathya; Goele Pipeleers; Wilm Decré; Jan Swevers (IEEE Robotics Autom. Lett., 2021)

A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions. - Ajay Suresha Sathya; Wilm Decré; Goele Pipeleers; Jan Swevers (ICRA, 2022)

Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills. - Ajay Suresha Sathya; Alejandro Astudillo; Joris Gillis; Wilm Decré; Goele Pipeleers; Jan Swevers (IROS, 2022)

FATROP: A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control. - Lander Vanroye; Ajay Sathya; Joris De Schutter; Wilm Decré (IROS, 2023)

Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective. - Bruce Wingo; Ajay Suresha Sathya; Stéphane Caron; Seth A. Hutchinson; Justin Carpentier (Robotics: Science and Systems, 2024)

Constrained Dynamics Simulation: More With Less. - Ajay Suresha Sathya (CoRR, 2024)

Efficient Constrained Dynamics Algorithms Based on an Equivalent LQR Formulation Using Gauss' Principle of Least Constraint. - Ajay Suresha Sathya; Herman Bruyninckx; Wilm Decré; Goele Pipeleers (IEEE Trans. Robotics, 2024)

PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix. - Ajay Suresha Sathya; Wilm Decré; Jan Swevers (IEEE Robotics Autom. Lett., 2024)

Constrained Articulated Body Dynamics Algorithms. - Ajay Suresha Sathya; Justin Carpentier (IEEE Trans. Robotics, 2025)