most citedThe GMRT High Resolution Southern Sky Survey for pulsars and transients -- V: Localisation of two millisecond pulsars

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cs.RO2023

Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives

Shubham Singh, Ryan P. Russell, Patrick M. Wensing

Differential Dynamic Programming (DDP) is a popular technique used to generate motion for dynamic-legged robots in the recent past. However, in most cases, only the first-order par…

cs.RO2023

On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation

Shubham Singh, Ryan P. Russell, Patrick M. Wensing

Model-based control for robots has increasingly been dependent on optimization-based methods like Differential Dynamic Programming and iterative LQR (iLQR). These methods can form…