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Publication search results
found 68 matches
- 2024
- Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis:
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. ICRA 2024: 14917-14923 - Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC 2024: 578-590 - Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner:
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. CoRR abs/2405.19452 (2024) - Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis:
Adaptive Manipulation using Behavior Trees. CoRR abs/2406.14634 (2024) - 2023
- Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots 47(8): 1463-1481 (2023) - Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis:
Motion planning in dynamic environments using context-aware human trajectory prediction. Robotics Auton. Syst. 166: 104450 (2023) - Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics 39(5): 3805-3820 (2023) - Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis:
Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. CASE 2023: 1-7 - Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Roll-Drop: accounting for observation noise with a single parameter. L4DC 2023: 718-730 - Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Roll-Drop: accounting for observation noise with a single parameter. CoRR abs/2304.13150 (2023) - Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau:
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR abs/2305.08926 (2023) - Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis:
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. CoRR abs/2310.02791 (2023) - Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis:
Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. CoRR abs/2310.06074 (2023) - 2022
- Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A feasibility-driven approach to control-limited DDP. Auton. Robots 46(8): 985-1005 (2022) - Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. IEEE Robotics Autom. Lett. 7(2): 1095-1102 (2022) - Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA 2022: 10564-10570 - Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis:
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction. CoRR abs/2201.05058 (2022) - Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR abs/2203.01446 (2022) - Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar:
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR abs/2203.07554 (2022) - Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR abs/2205.01179 (2022) - Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR abs/2209.12878 (2022) - Majid Khonji, Rashid Alyassi, Wolfgang Merkt, Areg Karapetyan, Xin Huang, Sungkweon Hong, Jorge Dias, Brian C. Williams:
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection. CoRR abs/2210.01766 (2022) - 2021
- Leonard Schmiester, Yannik Schälte, Frank T. Bergmann, Tacio Camba, Erika Dudkin, Janine Egert, Fabian Fröhlich, Lara Fuhrmann, Adrian L. Hauber, Svenja Kemmer, Polina A. Lakrisenko, Carolin Loos, Simon Merkt, Wolfgang Müller, Dilan Pathirana, Elba Raimúndez-Álvarez, Lukas Refisch, Marcus Rosenblatt, Paul Stapor, Philipp Städter, Dantong Wang, Franz-Georg Wieland, Julio R. Banga, Jens Timmer, Alejandro F. Villaverde, Sven Sahle, Clemens Kreutz, Jan Hasenauer, Daniel Weindl:
PEtab - Interoperable specification of parameter estimation problems in systems biology. PLoS Comput. Biol. 17(1) (2021) - Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar:
Residual force polytope: Admissible task-space forces of dynamic trajectories. Robotics Auton. Syst. 142: 103814 (2021) - Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar:
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics 37(5): 1649-1660 (2021) - Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. ICAPS 2021: 616-624 - Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar:
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA 2021: 8216-8222 - Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA 2021: 12752-12758 - Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar:
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA 2021: 8223-8229 - Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. IROS 2021: 3710-3717
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