4 papers
MAGMA: Multiplier-Augmented Geometric Motion Algorithm
César E. Ramos Chuquiure, Vansh Thakur, Challen Enninful Adu +1
Solving optimal control problems for high-dimensional mechanical systems subject to constraints remains challenging due to nonlinear dynamics and non-convex feasible sets. This pap…
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang +1
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, w…