George I. Boutselis

Georgia Institute of Technology, National Technical University of Athens, University of Siena

Papers

Total Citations

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About

George I. Boutselis is a researcher whose work lies at the intersection of trajectory optimization and robotic manipulation, with a particular emphasis on robustness and constraint handling. His most significant contribution is a re-examination of Constrained Differential Dynamic Programming (DDP), a cornerstone method for unconstrained trajectory optimization in robotics and controls. By extending DDP to effectively handle constraints—a long-standing challenge in the field—his 2021 paper has garnered 34 citations, reflecting its impact on advancing practical, real-world motion planning. In the domain of robotic grasping, Boutselis has developed integrated methodologies for task-specific, force-closure grasps under uncertainty. His 2014 work on robust grasping for multifingered hands introduced the novel concept of "Q distance" to account for external disturbances, while a complementary study on tactile sensing addressed uncertainties in object and hand parameters. Together, these papers (with 12 and 7 citations, respectively) demonstrate his commitment to bridging theoretical algorithms with sensor-driven, robust physical interaction. Boutselis’s research is essential reading for those seeking to push the boundaries of autonomous manipulation and constrained optimization in robotics.