222 citations · 371 across the 19 of their papers we have counts for
6 papers · 1 filter
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System
Jon Arrizabalaga, Fausto Vega, Zbyněk ŠÍR +2
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path functi…
A Universal Formulation for Path-Parametric Planning and Control
Jon Arrizabalaga, Zbyněk ŠÍR, Zachary Manchester +1
We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from…
Differentiable Collision-Free Parametric Corridors
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple c…
Dual Quaternion Control of UAVs with Cable-suspended Load
Yuxia Yuan, Markus Ryll
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control st…
Scene-Graph ViT: End-to-End Open-Vocabulary Visual Relationship Detection
Tim Salzmann, Markus Ryll, Alex Bewley +1
Visual relationship detection aims to identify objects and their relationships in images. Prior methods approach this task by adding separate relationship modules or decoders to ex…
Geometric Slosh-Free Tracking for Robotic Manipulators
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha +3
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific…