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03/08/2023
The hierarchical Newton's method for numerically stable prioritized dynamic control
This work links optimization approaches from hierarchical least-squares ...
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06/25/2021
𝒩IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs
Hierarchical least-squares programs with linear constraints (HLSP) are a...
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07/25/2018
Quotient-Space Motion Planning
A motion planning algorithm computes the motion of a robot by computing ...
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01/22/2018