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05/16/2023
STLCCP: An Efficient Convex Optimization-based Framework for Signal Temporal Logic Specifications
Signal Temporal Logic (STL) is capable of expressing a broad range of te...
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04/04/2023
Signal Temporal Logic Meets Convex-Concave Programming: A Structure-Exploiting SQP Algorithm for STL Specifications
This study considers the control problem with signal temporal logic (STL...
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03/02/2022
Whole-body model predictive control with rigid contacts via online switching time optimization
This study presents a whole-body model predictive control (MPC) of robot...
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12/14/2021
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
This study proposes an efficient Newton-type method for the optimal cont...
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08/03/2021
Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts
We propose a novel and efficient lifting approach for the direct optimal...
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06/08/2021
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
We propose an efficient way of solving optimal control problems for rigi...
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03/01/2021
Bayesian filtering for nonlinear stochastic systems using holonomic gradient method with integral transform
This paper proposes a symbolic-numeric Bayesian filtering method for a c...
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02/19/2021