3 papers
cs.CG2025
Polyhedral Collision Detection via Vertex Enumeration
Andrew Cinar, Yue Zhao, Forrest Laine
Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes oth…
cs.GT2024
Does bilevel optimization result in more competitive racing behavior?
Andrew Cinar, Forrest Laine
Two-vehicle racing is natural example of a competitive dynamic game. As with most dynamic games, there are many ways in which the underlying solution concept can be structured, res…
cs.RO2023
QTOS: An Open-Source Quadruped Trajectory Optimization Stack
Alexy Skoutnev, Andrew Cinar, Praful Sigdel +1
We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interfa…