2 citations · 2 across the 1 of their papers we have counts for
3 papers
Hybrid control trajectory optimization under uncertainty
Joni Pajarinen, Ville Kyrki, Michael Koval +3
Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and c…
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael C. Koval, David Hsu, Nancy S. Pollard +1
This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact man…
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa +2
We estimate the state a noisy robot arm and underactuated hand using an Implicit Manifold Particle Filter (MPF) informed by touch sensors. As the robot touches the world, its state…