45 citations · 64 across the 14 of their papers we have counts for
6 papers · 1 filter
Smooth time optimal trajectory generation for drones
Srinath Tankasala, Can Pehlivanturk, Efstathios Bakolas +1
In this paper, we address a minimum-time steering problem for a drone modeled as point mass with bounded acceleration, across a set of desired waypoints in the presence of gravity.…
Collision Avoidance Using Spherical Harmonics
Steven Patrick, Efstathios Bakolas
In this paper, we propose a novel optimization-based trajectory planner that utilizes spherical harmonics to estimate the collision-free solution space around an agent. The space i…
Collision Avoidance for Unmanned Aerial Vehicles in the Presence of Static and Moving Obstacles
Andrei Marchidan, Efstathios Bakolas
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form o…
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
Jaemin Lee, Seung Hyeon Bang, Efstathios Bakolas +1
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or…
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
Jaemin Lee, Efstathios Bakolas, Luis Sentis
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics…
Trajectory Generation for Robotic Systems with Contact Force Constraints
Jaemin Lee, Efstathios Bakolas, Luis Sentis
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the i…