3 citations · 4 across the 6 of their papers we have counts for
Showing 2024Show all
2 papers · 1 filter
cs.RO2024
Galileo: A Pseudospectral Collocation Framework for Legged Robots
Ethan Chandler, Akshay Jaitly, Mahdi Agheli
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization fra…
cs.RO2024★ 3 cited
PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
Akshay Jaitly, Siavash Farzan
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods o…