3 papers
cs.RO2026
IKSPARK: Obstacle-Aware Inverse Kinematics via Convex Optimization
Liangting Wu, Roberto Tron
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under comple…
cs.RO2025
Certifiably Optimal Estimation and Calibration in Robotics via Trace-Constrained Semi-Definite Programming
Liangting Wu, Roberto Tron
Many nonconvex problems in robotics can be relaxed into convex formulations via Semi-Definite Programming (SDP) that can be solved to global optimality. The practical quality of th…
eess.SY2025
A Control Barrier Function Candidate for Quadrotors with Limited Field of View
Biagio Trimarchi, Fabrizio Schiano, Roberto Tron
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physi…