17 citations · 32 across the 6 of their papers we have counts for
3 papers · 1 filter
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…
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…