4 accepted papers
We propose a emph{fully distributed} real-time model predictive control framework for transporting a single rigid object with multiple mobile manipulators. Each robot rapidly solves a local optimal control problem via Box-iLQR, while ADMM enforces consensus on the shared object state without central…
This letter presents a GPU-enabled parallel trajectory optimization framework for model predictive control (MPC) in complex urban environments. It fuses the advantages of sampling-based MPC, which can cope with nonconvex costmaps through random sampling of trajectories, with the advantages of gradie
Recently, legged robots have been used for various purposes, such as exploring unknown terrain or interacting with the world. For control and planning legged systems during interactive operations, it is essential to estimate and respond to external forces. However, in legged system, it becomes diffi…
Recently, several 4D radar datasets have been published due to its high resolution and robustness in extreme weather conditions. However, most of the recent 4D radar dataset publications have insufficient odometry sensors, which is disadvantageous for 4D radar odometry research. To tackle this probl