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06/07/2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Planning multi-contact motions in a receding horizon fashion requires a ...
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03/24/2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
State-of-the-art approaches to footstep planning assume reduced-order dy...
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03/23/2023
RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion
This work presents a novel RGB-D-inertial dynamic SLAM method that can e...
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09/02/2022
Differentiable Optimal Control via Differential Dynamic Programming
Robot design optimization, imitation learning and system identification ...
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04/25/2022
Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models
This work presents an approach for modelling and tracking previously uns...
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03/06/2022
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
This work presents a novel dense RGB-D SLAM approach for dynamic planar ...
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03/02/2022
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Deployment of robotic systems in the real world requires a certain level...
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03/08/2021
Co-Designing Robots by Differentiating Motion Solvers
We present a novel algorithm for the computational co-design of legged r...
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11/14/2020
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Optimal control is a popular approach to synthesize highly dynamic motio...
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11/01/2020
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Path planning and collision avoidance are challenging in complex and hig...
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10/21/2020
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects
This work presents a novel approach to simultaneously track a robot with...
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10/11/2020
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Benchmarks of state-of-the-art rigid-body dynamics libraries have report...
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10/02/2020
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Shooting methods are an efficient approach to solving nonlinear optimal ...
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03/03/2020
Modeling and Control of a Hybrid Wheeled Jumping Robot
In this paper, we study a wheeled robot with a prismatic extension joint...
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03/01/2020