research
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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
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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02/25/2022
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
In this paper we present a method for updating robotic state belief thro...
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07/23/2020