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03/08/2023
Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning
Task planning for robots is computationally challenging due to the combi...
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03/08/2023
Time-Optimal Control via Heaviside Step-Function Approximation
Least-squares programming is a popular tool in robotics due to its simpl...
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03/08/2023
The hierarchical Newton's method for numerically stable prioritized dynamic control
This work links optimization approaches from hierarchical least-squares ...
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03/07/2023
Path Planning Under Uncertainty to Localize mmWave Sources
In this paper, we study a navigation problem where a mobile robot needs ...
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02/23/2023
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control
We present a sequential hierarchical least-squares programming solver wi...
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10/27/2021
Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification
The millimeter wave (mmWave) bands have attracted considerable attention...
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09/07/2021
𝒩IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control
Linear Model Predictive Control (MPC) is a widely used method to control...
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06/25/2021
𝒩IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs
Hierarchical least-squares programs with linear constraints (HLSP) are a...
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08/19/2020