222 citations · 250 across the 11 of their papers we have counts for
4 papers · 2 filters
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System
Jon Arrizabalaga, Fausto Vega, Zbyněk ŠÍR +2
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path functi…
A Universal Formulation for Path-Parametric Planning and Control
Jon Arrizabalaga, Zbyněk ŠÍR, Zachary Manchester +1
We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from…
Differentiable Collision-Free Parametric Corridors
Jon Arrizabalaga, Zachary Manchester, Markus Ryll
This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple c…
Geometric Slosh-Free Tracking for Robotic Manipulators
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha +3
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific…