129 citations · 889 across the 54 of their papers we have counts for
19 papers · 1 filter
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…
Surrogate Lagrangians for Variational Integrators: High Order Convergence with Low Order Schemes
Gerardo De La Torre, Todd Murphey
Variational integrators are momentum-preserving and symplectic numerical methods used to propagate the evolution of Hamiltonian systems. In this paper, we introduce a new class of…
Dynamic Task Execution using Active Parameter Identification with the Baxter Research Robot
Andrew D. Wilson, Jarvis A. Schultz, Alex R. Ansari +1
This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research R…
Trajectory Synthesis for Fisher Information Maximization
Andrew D. Wilson, Jarvis A. Schultz, Todd D. Murphey
Estimation of model parameters in a dynamic system can be significantly improved with the choice of experimental trajectory. For general, nonlinear dynamic systems, finding globall…
Autonomous Visual Rendering using Physical Motion
Ahalya Prabhakar, Anastasia Mavrommati, Jarvis Schultz +1
This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools.…
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…