I'm a research scientist at the Toyota Research Institute. I received my Ph.D. from MIT in 2017, where I was advised by Prof. Pablo Parrilo and Prof. Russ Tedrake. I received my BS from the University of Houston and MS from Stanford, both in Electrical Engineering. From 2004-2007, I developed flight software for the International Space Station, implementing algorithms that continuously regulate the attitude (orientation) of the space station. From 2007-2011, I codeveloped Robonaut 2, the first humanoid robot in space. My current research interests include optimization and control and their applications to autonomous vehicles. |

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*Reduction methods in semidefinite and conic optimization*, August 2017

[dspace]

*Log-domain interior-point methods for quadratic programming*

F. Permenter

[pdf]*An unconstrained convex formulation of compliant contact*

A. Castro, F. Permenter, X. Han

[pdf]*A geodesic interior-point method for linear optimization over symmetric cones*

F. Permenter

[pdf], [slides]*Dimension Reduction For SDPs via Jordan Algebras*

F. Permenter, P.A. Parrilo

[pdf]*Optimization-based locomotion planning, estimation, and control design for Atlas*

S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, R. Tedrake.

*Autonomous Robots*, 2016

[pdf]*Solving conic optimization problems via self-dual embedding and facial reduction: a unified approach*

F. Permenter, Henrik Friberg, and Erling Andersen

[pdf]*Finding sparse, equivalent SDPs using minimal coordinate projections*

F. Permenter and P. A. Parrilo

[pdf], [examples], [software]*Partial facial reduction: Simplified, equivalent semidefinite programs via approximations of the positive semidefinite cone.*

F. Permenter and P. A. Parrilo

[pdf], [software]*Basis selection for SOS programs via facial reduction and polyhedral approximations*

F. Permenter and P. A. Parrilo

*Proceedings of the IEEE Conference on Decision and Control*, December 2014

[pdf]*An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion.*

S. Kuindersma, F. Permenter, R. Tedrake.

*In Proceedings of the International Conference on Robotics and Automation (ICRA)*, May 2014

[pdf]*A numerical algebraic geometry approach to regional stability analysis of polynomial systems*

F. Permenter, C.W. Wampler, and R. Tedrake

*Proceedings of the American Control Conference*, June 2013

[pdf]*Selecting a monomial basis for sums of squares programming over a quotient ring*

F. Permenter and P. A. Parrilo

*Proceedings of the IEEE Conference on Decision and Control*, December 2012

[pdf]*Using Bayesian filtering to localize flexible materials during manipulation*

R. Platt, F. Permenter, and J. Pfeiffer

*IEEE Transactions on Robotics*, 2011

*Robonaut 2: the first humanoid robot in space*

M.A. Diftler, N.A. Radford, J.S. Mehling, M.E. Abdallah, F. Permenter, R.O. Ambrose, et al.

*Proceedings of the IEEE International Conference on Robotics and Automation*, 2011

*A miniature load cell suitable for mounting on the phalanges of human-sized robot fingers*

R. Platt, C. Ihrke, L. Bridgewater, D. Linn, M.A. Diftler, M.E. Abdallah, S. Askew, F. Permenter.

*Proceedings of the IEEE International Conference on Robotics and Automation*, 2011

*frlib -- a pre-processing tool for SDP using techniques described* here

*MIT*

Fall 2013: TA for 6.255/15.093J Optimization Methods