129 citations · 496 across the 29 of their papers we have counts for
8 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…
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…