3 papers
cs.RO2024
Efficient Lexicographic Optimization for Prioritized Robot Control and Planning
Kai Pfeiffer, Abderrahmane Kheddar
In this work, we present several tools for efficient sequential hierarchical least-squares programming (S-HLSP) for lexicographical optimization tailored to robot control and plann…
cs.RO2023
The hierarchical Newton's method for numerically stable prioritized dynamic control
Kai Pfeiffer, Adrien Escande, Pierre Gergondet +1
This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical…
cs.RO2023
Path Planning Under Uncertainty to Localize mmWave Sources
Kai Pfeiffer, Yuze Jia, Mingsheng Yin +8
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimat…