2 citations · 2 across the 4 of their papers we have counts for
Showing 2026Show all
2 papers · 1 filter
cs.RO2026
Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation
Daniel Layeghi, Thomas Corbères, Calum Arnott +4
Differentiable simulation can accelerate contact-rich trajectory optimisation by exposing local sensitivities of task outcomes to controls. Existing approaches either use finite di…
cs.RO2026
Gust Estimation and Rejection with a Disturbance Observer for Proprioceptive Underwater Soft Morphing Wings
Tobias Cook, Leo Micklem, Huazhi Dong +3
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturban…