4 papers · 1 filter
Dojo: A Differentiable Physics Engine for Robotics
Taylor A. Howell, Simon Le Cleac'h, Jan Brüdigam +5
We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, a…
Distributed Optimization Methods for Multi-Robot Systems: Part II -- A Survey
Ola Shorinwa, Trevor Halsted, Javier Yu +1
Although the field of distributed optimization is well-developed, relevant literature focused on the application of distributed optimization to multi-robot problems is limited. Thi…
Distributed Optimization Methods for Multi-Robot Systems: Part I -- A Tutorial
Ola Shorinwa, Trevor Halsted, Javier Yu +1
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part seri…
OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Roya Firoozi, Alexandre Mir, Gadi Sznaier Camps +1
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDA…