17 citations · 21 across the 13 of their papers we have counts for
13 papers · 1 filter
G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation
Tanmay Bishnoi, Riddhiman Laha, Tobias Löw +3
Reactive motion generation in unstructured environments remains an open challenge in robotics. Due to the computational complexity of collision-free motion generation, existing met…
Curve-Induced Dynamical Systems on Riemannian Manifolds and Lie Groups
Saray Bakker, Martin Schonger, Tobias Löw +2
Deploying robots in household environments requires safe, adaptable, and interpretable behaviors that respect the geometric structure of tasks. Often represented on Lie groups and…
Cooperative Task Spaces for Multi-Arm Manipulation Control based on Similarity Transformations
Tobias Löw, Cem Bilaloglu, Sylvain Calinon
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to ena…
Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization
Xuemin Chi, Hakan Girgin, Tobias Löw +6
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While cur…
Diffusion-based Virtual Fixtures
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surf…
Tactile Ergodic Coverage on Curved Surfaces
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continu…
Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra
Tobias Löw, Sylvain Calinon
In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and…
gafro: Geometric Algebra for Robotics
Tobias Löw, Philip Abbet, Sylvain Calinon
Geometry is a fundamental part of robotics and there have been various frameworks of representation over the years. Recently, geometric algebra has gained attention for its propert…
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Xuemin Chi, Tobias Löw, Yiming Li +2
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors a…
Projection-based first-order constrained optimization solver for robotics
Hakan Girgin, Tobias Löw, Teng Xue +1
Robot programming tools ranging from inverse kinematics (IK) to model predictive control (MPC) are most often described as constrained optimization problems. Even though there are…
Whole-Body Ergodic Exploration with a Manipulator Using Diffusion
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consis…
Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
Tobias Löw, Sylvain Calinon
Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were alg…
Tensor Train for Global Optimization Problems in Robotics
Suhan Shetty, Teguh Lembono, Tobias Loew +1
The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that util…