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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…