3 papers
cs.RO2026
Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
Khaled A. Mustafa, Mohamed-Khalil Bouzidi, Christian Schlauch +4
Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each other's reactions, making "what-if" reasoning essential for safe and eff…
cs.RO2026
Impact-Robust Posture Optimization for Aerial Manipulation
Amr Afifi, Ahmad Gazar, Javier Alonso-Mora +2
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the b…
cs.RO2024
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Ahmad Gazar, Majid Khadiv, Andrea Del Prete +1
Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control…