@ARTICLE{11627924,
  author={Jaitly, Akshay and Farzan, Siavash},
  journal={IEEE Control Systems Letters}, 
  title={Trusted Polytopic Action Sets for Fast Planning in Underactuated Systems}, 
  year={2026},
  volume={},
  number={},
  pages={1-6},
  keywords={Trajectory;Modeling;Dynamics;Planning;Trees (botanical);Vegetation;Construction;Optimization;Timing;Linear programming;Motion planning;convex optimization;constrained control;underactuated systems},
  doi={10.1109/LCSYS.2026.3718036}}