4 citations · 5 across the 8 of their papers we have counts for
8 papers
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…
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…
Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning
Kai Pfeiffer, Leonardo Edgar, Quang-Cuong Pham
Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-g…
Time-Optimal Control via Heaviside Step-Function Approximation
Kai Pfeiffer, Quang-Cuong Pham
Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the $\el…
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control
Kai Pfeiffer, Abderrahmane Kheddar
We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete non-linear optimal con…
Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification
Mingsheng Yin, Akshaj Veldanda, Amee Trivedi +7
The millimeter wave (mmWave) bands have attracted considerable attention for high precision localization applications due to the ability to capture high angular and temporal resolu…
IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control
Kai Pfeiffer, Ludovic Righetti
Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block…
Enabling Remote Whole-Body Control with 5G Edge Computing
Huaijiang Zhu, Manali Sharma, Kai Pfeiffer +4
Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirement…