129 citations · 889 across the 54 of their papers we have counts for
9 papers · 1 filter
Generalized Proximal Methods for Pose Graph Optimization
Taosha Fan, Todd Murphey
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Eu…
On the Benefits of Surrogate Lagrangians in Optimal Control and Planning Algorithms
Gerardo De La Torre, Todd Murphey
This paper explores the relationship between numerical integrators and optimal control algorithms. Specifically, the performance of the differential dynamical programming (DDP) alg…
Projection-Based Iterative Mode Scheduling for Switched Systems
Timothy Caldwell, Todd Murphey
This paper describes a method for scheduling the events of a switched system to achieve an optimal performance. The approach has guarantees on convergence and computational complex…
Power Network Regulation Benchmark for Switched-Mode Optimal Control
Timothy M. Caldwell, Todd D. Murphey
Power network regulation is presented as a benchmark problem for assessing and developing switched-mode optimal control approaches like mode scheduling, sliding window scheduling a…
Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for…
Decentralized and Recursive Identification for Cooperative Manipulation of Unknown Rigid Body with Local Measurements
Taosha Fan, Huan Weng, Todd Murphey
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body b…
Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups
Taosha Fan, Todd Murphey
In this paper, we propose an approach to designing online feedback controllers for input-saturated robotic systems evolving on Lie groups by extending the recently developed Sequen…
Real-time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization for Linear Time-Varying Systems
Anastasia Mavrommati, Jarvis A. Schultz, Todd D. Murphey
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control a…
Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control
Elliot Johnson, Jarvis Schultz, Todd Murphey
Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external…