Jon Arrizabalaga - Personal Website

I am a postdoc at the Robotics Institute (RI) at Carnegie Mellon University (CMU), advised by Prof. Zachary Manchester.

My research interests lie at the intersection of system dynamics, control theory, numerical optimization, and machine learning, with a special focus on their applications to robotic and autonomous systems. For further details, check out my publications!

You can find more about me in an interview with undergrad students! If you find my work appealing or would like to connect, please get in touch. I am always looking for new collaborations.

MSc

2018-2020

PhD

2020-2025

Visitor / Postdoc

2024 - 2026

Publications

Egocentric Decision-Making for Robot Autonomy

Jon Arrizabalaga

PhD Thesis, 2025

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DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight

Luis F Recalde, Dhruv Agrawal, Jon Arrizabalaga, and 1 more author

RA-L, 2025

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Convex Maneuver Planning for Spacecraft Collision Avoidance

Fausto Vega, Jon Arrizabalaga, and Zachary Manchester

iSpaRo, 2025

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The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization

Kevin Tracy, John Z Zhang, Jon Arrizabalaga, and 4 more authors

Under review, 2025

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Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks

Rishi Veerapaneni, Alvin Tang, Haodong He, and 8 more authors

Under review, 2025

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Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions

Akshay Jaitly, Jon Arrizabalaga, and Guanrui Li

Under review, 2025

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A Universal Formulation for Path-Parametric Planning and Control

Jon Arrizabalaga, Zbyněk Šı́r, Zachary Manchester, and 1 more author

Under review, 2025

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@article{arrizabalaga2025universal,
  title = {A Universal Formulation for Path-Parametric Planning and Control},
  author = {Arrizabalaga, Jon and {\v{S}}{\'\i}r, Zbyn{\v{e}}k and Manchester, Zachary and Ryll, Markus},
  journal = {Under review},
  year = {2025},
}

Differentiable collision-free parametric corridors

Jon Arrizabalaga, Zachary Manchester, and Markus Ryll

IROS, 2024, Best Paper Finalist 🏆

PDF Video Code Talk

Best Paper Finalist 🏆

@inproceedings{arrizabalaga2024differentiable,
  title = {Differentiable collision-free parametric corridors},
  author = {Arrizabalaga, Jon and Manchester, Zachary and Ryll, Markus},
  booktitle = {IROS},
  journal = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1839--1846},
  year = {2024},
  organization = {IEEE},
}

PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System

Jon Arrizabalaga, Fausto Vega, Zbyněk ŠÍR, and 2 more authors

IEEE Aero, 2025

PDF Code Talk

@inproceedings{arrizabalaga2024phodcos,
  title = {PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System},
  author = {Arrizabalaga, Jon and Vega, Fausto and {\v{S}}{\'I}R, Zbyn{\v{e}}k and Manchester, Zachary and Ryll, Markus},
  booktitle = {IEEE Aero},
  journal = {Proceedings of the IEEE Aerospace Conference},
  year = {2025},
}

Geometric Slosh-Free Tracking for Robotic Manipulators

Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, and 3 more authors

ICRA, 2024

PDF Video Code Talk

@inproceedings{arrizabalaga2024geometric,
  title = {Geometric Slosh-Free Tracking for Robotic Manipulators},
  author = {Arrizabalaga, Jon and Pries, Lukas and Laha, Riddhiman and Li, Runkang and Haddadin, Sami and Ryll, Markus},
  booktitle = {ICRA},
  journal = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  pages = {1226--1232},
  year = {2024},
  organization = {IEEE},
}

Learning for casadi: Data-driven models in numerical optimization

Tim Salzmann, Jon Arrizabalaga, Joel Andersson, and 2 more authors

L4DC, 2024

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@inproceedings{salzmann2024learning,
  title = {Learning for casadi: Data-driven models in numerical optimization},
  author = {Salzmann, Tim and Arrizabalaga, Jon and Andersson, Joel and Pavone, Marco and Ryll, Markus},
  booktitle = {L4DC},
  journal = {Proceedings of the Learning for Dynamics \& Control Conference},
  pages = {541--553},
  year = {2024},
  organization = {PMLR},
}

Pose-following with dual quaternions

Jon Arrizabalaga and Markus Ryll

CDC, 2023

PDF Code Talk

@inproceedings{arrizabalaga2023pose,
  title = {Pose-following with dual quaternions},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {CDC},
  journal = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
  pages = {5959--5966},
  year = {2023},
  organization = {IEEE},
}

Real-time neural mpc: Deep learning model predictive control for quadrotors and agile robotic platforms

Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, and 3 more authors

IEEE RA-L, 2023

PDF Code

@inproceedings{salzmann2023real,
  title = {Real-time neural mpc: Deep learning model predictive control for quadrotors and agile robotic platforms},
  author = {Salzmann, Tim and Kaufmann, Elia and Arrizabalaga, Jon and Pavone, Marco and Scaramuzza, Davide and Ryll, Markus},
  booktitle = {IEEE RA-L},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {4},
  pages = {2397--2404},
  year = {2023},
  publisher = {IEEE},
}

Sctomp: Spatially constrained time-optimal motion planning

Jon Arrizabalaga and Markus Ryll

IROS, 2023

PDF Video Talk

@inproceedings{arrizabalaga2023sctomp,
  title = {Sctomp: Spatially constrained time-optimal motion planning},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {IROS},
  journal = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4827--4834},
  year = {2023},
  organization = {IEEE},
}

spatial_motion_planning_with_ph_curves/spatial_ph.png

Spatial motion planning with pythagorean hodograph curves

Jon Arrizabalaga and Markus Ryll

CDC, 2022

PDF Video Talk

@inproceedings{arrizabalaga2022spatial,
  title = {Spatial motion planning with pythagorean hodograph curves},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {CDC},
  journal = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
  pages = {2047--2053},
  year = {2022},
  organization = {IEEE},
}

Towards time-optimal tunnel-following for quadrotors

Jon Arrizabalaga and Markus Ryll

ICRA, 2022

PDF Video

@inproceedings{arrizabalaga2022towards,
  title = {Towards time-optimal tunnel-following for quadrotors},
  author = {Arrizabalaga, Jon and Ryll, Markus},
  booktitle = {ICRA},
  journal = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  pages = {4044--4050},
  year = {2022},
  organization = {IEEE},
}

A caster-wheel-aware MPC-based motion planner for mobile robotics

Jon Arrizabalaga, Niels van Duijkeren, Markus Ryll, and 1 more author

ICAR, 2021

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