9 citations · 20 across the 12 of their papers we have counts for
4 papers · 1 filter
A Square-Root Kalman Filter Using Only QR Decompositions
Kevin Tracy
The Kalman filter operates by storing a Gaussian description of the state estimate in the form of a mean and covariance. Instead of storing and manipulating the covariance matrix d…
Differentiable Collision Detection for a Set of Convex Primitives
Kevin Tracy, Taylor A. Howell, Zachary Manchester
Collision detection between objects is critical for simulation, control, and learning for robotic systems. However, existing collision detection routines are inherently non-differe…
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons
Kevin Tracy, Taylor A. Howell, Zachary Manchester
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configuratio…
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
Taylor A. Howell, Simon Le Cleac'h, Kevin Tracy +1
We present a new solver for non-convex trajectory optimization problems that is specialized for robotics applications. CALIPSO, or the Conic Augmented Lagrangian Interior-Point SOl…