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06/12/2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Hybrid dynamical systems, i.e. systems that have both continuous and dis...
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04/01/2023
Grounding Robot Navigation in Self-Defense Law
Robots operating in close proximity to humans rely heavily on human trus...
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04/01/2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
In order to perform highly dynamic and agile maneuvers, legged robots ty...
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10/03/2021
