242 citations · 491 across the 52 of their papers we have counts for
10 papers · 2 filters
Vision-Only Robot Navigation in a Neural Radiance World
Michal Adamkiewicz, Timothy Chen, Adam Caccavale +4
Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the representation of natural, complex 3D scenes. NeRFs represent continuous volumetric density and…
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Claire Chen, Preston Culbertson, Marion Lepert +2
Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipu…
DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning
Javier Yu, Joseph A. Vincent, Mac Schwager
We present a distributed algorithm that enables a group of robots to collaboratively optimize the parameters of a deep neural network model while communicating over a mesh network.…
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond +2
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniqu…
Reciprocal Multi-Robot Collision Avoidance with Asymmetric State Uncertainty
Kunal Shah, Guillermo Angeris, Mac Schwager
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be coll…
CoCo: Online Mixed-Integer Control via Supervised Learning
A. Cauligi, P. Culbertson, E. Schmerling +3
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex programs (MICPs). However, state-of-the-art algorithms are still u…
Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h, Taylor Howell, Shuo Yang +5
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes li…
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
Dynamic games are an effective paradigm for dealing with the control of multiple interacting actors. This paper introduces ALGAMES (Augmented Lagrangian GAME-theoretic Solver), a s…
CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography
Pablo Pueyo, Eduardo Montijano, Ana C. Murillo +1
We present CineMPC, an algorithm to autonomously control a UAV-borne video camera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls both the position and orientat…
A Survey of Distributed Optimization Methods for Multi-Robot Systems
Trevor Halsted, Ola Shorinwa, Javier Yu +1
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constraine…