119 citations · 166 across the 8 of their papers we have counts for
9 papers
Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs
Sizhe Sui, Luis Sentis, Andrew Bylard
This paper presents a set of simple and intuitive robot collision detection algorithms that show substantial scaling improvements for high geometric complexity and large numbers of…
Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers
Jee-eun Lee, Robert Sun, Andrew Bylard +1
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects…
On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators
Jee-eun Lee, Andrew Bylard, Robert Sun +1
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and…
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard +2
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must…
ReachBot: A Small Robot for Large Mobile Manipulation Tasks
Stephanie Schneider, Andrew Bylard, Tony G. Chen +3
Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limita…
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems
Andrew Bylard, Riccardo Bonalli, Marco Pavone
Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while a…
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework
Thomas Lew, Apoorva Sharma, James Harrison +2
Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, w…
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Riccardo Bonalli, Andrew Bylard, Abhishek Cauligi +2
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, mos…
GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming
Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard +1
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantee…