5 citations · 12 across the 18 of their papers we have counts for
5 papers · 1 filter
A Decade of Learning-Based Control: From Theoretic Foundations to Practical Deployment
Angela P. Schoellig, Matthias A. Müller, Sebastian Trimpe +8
Motivated by ten years of Learning-Based Control Invited Sessions at the IEEE Conference on Decision and Control (CDC), this tutorial paper reviews key advances at the intersection…
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua +3
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing robots' capabilities. While aerial robotics simulators have evolved to support speci…
Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
Xintong Du, Siqi Zhou, Angela P. Schoellig
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at t…
Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
Xintong Du, Jingxing Qian, Siqi Zhou +1
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion…
SQ-CBF: Signed Distance Functions for Reliable Superquadric-Based Safety Filtering
Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions (CBFs) provide an effective framework for real-…