12 citations · 14 across the 5 of their papers we have counts for
5 papers
Duty Factor Predicts Robust Constrained Quadrupedal Locomotion Across Gait Types
James Zhu, David Ologan, George Ortiz +5
Quadrupedal robots are increasingly deployed in environments where locomotion must remain robust to disturbances and constrained terrain. Gait type, such as walking or trotting, is…
Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication
Ardalan Tajbakhsh, Augustinos Saravanos, James Zhu +3
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable…
Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping
Abdel Zaro, Ardalan Tajbakhsh, Aaron M. Johnson
This paper presents a novel and efficient collision checking approach called Updating and Collision Check Skipping Quad-tree (USQ) for multi-robot motion planning. USQ extends the…
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning
Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson
This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner l…
Adaptive Complexity Model Predictive Control
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang +1
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and…