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math.OC2021
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations
Bilal Hammoud, Armand Jordana, Ludovic Righetti
This work addresses the problem of risk-sensitive control for nonlinear systems with imperfect state observations, extending results for the linear case. In particular, we derive a…
cs.RO2021
Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts
Bilal Hammoud, Luca Olivieri, Ludovic Righetti +2
The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts ar…