25 citations · 52 across the 17 of their papers we have counts for
17 papers
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion
Ran Long, Christian Rauch, Vladimir Ivan +2
This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects ove…
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
Jaehyun Shim, Carlos Mastalli, Thomas Corbères +3
State-of-the-art approaches to footstep planning assume reduced-order dynamics when solving the combinatorial problem of selecting contact surfaces in real time. However, in exchan…
Differentiable Optimal Control via Differential Dynamic Programming
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimiz…
Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models
Christian Rauch, Ran Long, Vladimir Ivan +1
This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid…
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
Ran Long, Christian Rauch, Tianwei Zhang +3
This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruct…
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…
A Versatile Co-Design Approach For Dynamic Legged Robots
Traiko Dinev, Carlos Mastalli, Vladimir Ivan +2
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling…
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan +2
Optimal control is a popular approach to synthesize highly dynamic motion. Commonly, regularization is used on the control inputs in order to minimize energy used and to ensu…
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt +3
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and…
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects
Ran Long, Christian Rauch, Tianwei Zhang +2
This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portion…
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt +2
Benchmarks of state-of-the-art rigid-body dynamics libraries report better performance solving the inverse dynamics problem than the forward alternative. Those benchmarks encourage…
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev +2
Shooting methods are an efficient approach to solving nonlinear optimal control problems. As they use local optimization, they exhibit favorable convergence when initialized with a…
Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev, Songyan Xin, Wolfgang Merkt +2
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright…
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan +2
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward…
Scaling Sampling-based Motion Planning to Humanoid Robots
Yiming Yang, Vladimir Ivan, Wolfgang Merkt +1
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles…
iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments
Yiming Yang, Vladimir Ivan, Zhibin Li +2
In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environment…