25 citations · 30 across the 11 of their papers we have counts for
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cs.RO2024
Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding
Ji Yin, Panagiotis Tsiotras, Karl Berntorp
This paper introduces a novel nonlinear stochastic model predictive control path integral (MPPI) method, which considers chance constraints on system states. The proposed belief-sp…
cs.RO2024
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering
Marcel Menner, Karl Berntorp
This paper proposes an algorithm for combined contact detection and state estimation for legged robots. The proposed algorithm models the robot's movement as a switched system, in…