37 citations · 100 across the 5 of their papers we have counts for
6 papers
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization
Taosha Fan, Jarvis Schultz, Todd Murphey
This paper addresses the problem of efficiently computing higher-order variational integrators in simulation and trajectory optimization of mechanical systems as those often found…
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.…
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…