4 citations · 5 across the 4 of their papers we have counts for
4 papers · 1 filter
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
Wilson Jallet, Ewen Dantec, Etienne Arlaud +2
Recent strides in nonlinear model predictive control (NMPC) underscore a dependence on numerical advancements to efficiently and accurately solve large-scale problems. Given the su…
Contact Models in Robotics: a Comparative Analysis
Quentin Le Lidec, Wilson Jallet, Louis Montaut +3
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics si…
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a s…
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Mathematical optimization is the workhorse behind several aspects of modern robotics and control. In these applications, the focus is on constrained optimization, and the ability t…