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cs.RO2026
The Indirect Method for Generating Libraries of Optimal Periodic Trajectories and Its Application to Economical Bipedal Walking
Maximilian Raff, Kathrin FlaÃkamp, C. David Remy
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory opti…
cs.RO2024
Efficient Avoidance of Ellipsoidal Obstacles with Model Predictive Control for Mobile Robots and Vehicles
Mario Rosenfelder, Hendrik Carius, Markus Herrmann-Wicklmayr +3
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-…