117 citations · 125 across the 4 of their papers we have counts for
9 papers · 1 filter
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots
Joonho Lee, Marko Bjelonic, Alexander Reske +3
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban enviro…
Advanced Skills by Learning Locomotion and Local Navigation End-to-End
Nikita Rudin, David Hoeller, Marko Bjelonic +1
The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion c…
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
Eric Vollenweider, Marko Bjelonic, Victor Klemm +3
In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedio…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian +1
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constra…
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
Marko Bjelonic, Ruben Grandia, Oliver Harley +3
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction…