22 citations · 126 across the 31 of their papers we have counts for
6 papers · 1 filter
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
Majid Khonji, Rashid Alyassi, Wolfgang Merkt +5
In transportation networks, where traffic lights have traditionally been used for vehicle coordination, intersections act as natural bottlenecks. A formidable challenge for existin…
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt +1
Training deep reinforcement learning (DRL) locomotion policies often require massive amounts of data to converge to the desired behaviour. In this regard, simulators provide a chea…
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert +5
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of…
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin +4
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-t…
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt +2
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in…
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction
Mark Nicholas Finean, Luka Petrović, Wolfgang Merkt +2
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing pr…