10 citations · 19 across the 17 of their papers we have counts for
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cs.RO2021
Optimal Control via Combined Inference and Numerical Optimization
Daniel Layeghi, Steve Tonneau, Michael Mistry
Derivative based optimization methods are efficient at solving optimal control problems near local optima. However, their ability to converge halts when derivative information vani…
cs.RO2021
Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem
Steve Tonneau
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large…
cs.RO2021
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…