14 citations · 44 across the 10 of their papers we have counts for
6 papers · 1 filter
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
Mandy Xie, Alejandro Escontrela, Frank Dellaert
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-bod…
Optimization Fabrics for Behavioral Design
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
A common approach to the provably stable design of reactive behavior, exemplified by operational space control, is to reduce the problem to the design of virtual classical mechanic…
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
Mandy Xie, Karl Van Wyk, Anqi Li +5
This paper describes the pragmatic design and construction of geometric fabrics for shaping a robot's task-independent nominal behavior, capturing behavioral components such as obs…
Generalized Nonlinear and Finsler Geometry for Robotics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
Robotics research has found numerous important applications of Riemannian geometry. Despite that, the concept remain challenging to many roboticists because the background material…
Optimization Fabrics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
This paper presents a theory of optimization fabrics, second-order differential equations that encode nominal behaviors on a space and can be used to define the behavior of a smoot…
Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs
Mandy Xie, Frank Dellaert
This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia…