1.5k citations · 2k across the 42 of their papers we have counts for
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A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
Mandy Xie, Alejandro Escontrela, Frank Dellaert
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-bod…
Equality Constrained Linear Optimal Control With Factor Graphs
Shuo Yang, Gerry Chen, Yetong Zhang +2
This paper presents a novel factor graph-based approach to solve the discrete-time finite-horizon Linear Quadratic Regulator problem subject to auxiliary linear equality constraint…
Shonan Rotation Averaging: Global Optimality by Surfing
Frank Dellaert, David M. Rosen, Jing Wu +2
Shonan Rotation Averaging is a fast, simple, and elegant rotation averaging algorithm that is guaranteed to recover globally optimal solutions under mild assumptions on the measure…
Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs
Mandy Xie, Frank Dellaert
This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia…
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Sen Wang, Jiaqi Chen, Xuanliang Deng +2
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization…