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Changrak Choi

Address:

4800 Oak Grove Drive
M/S 198-219

Pasadena, CA 91101

Member of:

347N - Maritime and Multi-Agent Autonomy

Changrak Choi

Robotics Technologist

Biography

Dr. Changrak Choi is a Robotics Technologist at Jet Propulsion Lab. His research focuses on trajectory and motion planning for autonomous systems that are dynamically interesting, drawing upon algorithms, optimization and controls. The systems of interest include autonomous helicopters, rovers, legged robots, on-water vehicles, and soft robots.

Changrak earned his PhD from MIT as a member of Laboratory for Information and Decision Systems (LIDS) in Aerospace Robotics and Embedded Systems group. He received M.S. from MIT and B.S. from Seoul National University, both in Mechanical Engineering and has been recipient of Korean Government Scholarship and Kwanjeong Scholarship during M.S. and PhD respectively.

Education

PhD, Mechanical Engineering, Massachusetts Institute of Technology, 2018
MS, Mechanical Engineering, Massachusetts Institute of Technology, 2012
BS, Mechanical Engineering, Seoul National University, 2010

Research Interests

- Motion planning for dynamical systems
- Multi-agent motion planning
- Trajectory planning via optimization
- Optimization and Control
- Swarms
- Soft Robotics

Publications

2025
  1. A. Gupta, Y. Nakka, C. Choi, and A. Rahmani, "Global Task-Aware Fault Detection Identification for On-Orbit Multi-Spacecraft Collaborative Inspection," AAS/AIAA Space Flight Mechanics, 06 May 2025.
2024
  1. D. Stanley, R. Woollands, F. Rossi, A. Rahmani, C. Choi, and A. Davis, "Enabling Space-Based Computed Cloud Tomography with a Mixed Integer Linear Programming Scheduler," Journal of Spacecraft and Rockets, 23 July 2024.
  2. H. El-Kebir, M. Ornik, Y.K. Nakka, C. Choi, A. Rahmani, "Robust Detection and Identification of Simultaneous Sensor and Actuator Faults," 2024 IEEE Aerospace Conference, Big Sky, MT, USA, 02 March 2024.
2023
  1. J. Briden, C. Choi, K. S. Yun, R. Linares, and A. Cauligi, "Constraint-Informed Learning for Warm Starting Trajectory Optimization," Journal of Guidance, Control, and Dynamics, pp. 1-13, 21 December 2023.
  2. H. Tsukamato, B. Riviere, C. Choi, A. Rahmani, and S.J. Chung, "CART: Collision Avoidance and Robust Tracking Augmentation in Learning-based Motion Planning for Multi-Agent Systems," IEEE Conference on Decision and Control (CDC), 13 August 2023.
  3. C. Choi, Y. Nakka, A. Rahmani, and S.J. Chung, "Resilient Multi-Agent Collaborative Spacecraft Inspection," 2023 IEEE Aerospace Conference, Big Sky, MT, USA, 04 March 2023.
  4. T. Gutierrez, N. Coulter, H. Moncayo, C. Choi, Y. Nakka, and A. Rahmani, "Distributed Health Management for Resilient Multi-agent Collaborative Spacecraft Inspection," AIAA SciTech, 01 January 2023.
2021
  1. C. Choi, M. Adil, A. Rahmani, and R. Madani, "Optimal Multi-Robot Motion Planning via Parabolic Relaxation," IEEE Robotics and Automation Letter (RA-L), 28 November 2021.