3 papers
cs.RO2026
Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control
Kai Pfeiffer, Quan Zhang, Yuqing Chen +4
This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control…
math.OC2025
Dual Hierarchical Least-Squares Programming with Equality Constraints
Kai Pfeiffer
Hierarchical least-squares programming (HLSP) is an important tool in optimization as it enables the stacking of any number of priority levels in order to reflect complex constrain…
cs.RO2024
Efficient Lexicographic Optimization for Prioritized Robot Control and Planning
Kai Pfeiffer, Abderrahmane Kheddar
In this work, we present several tools for efficient sequential hierarchical least-squares programming (S-HLSP) for lexicographical optimization tailored to robot control and plann…