Publications

BibTeX

@article{afeasibilitydri-2022/9,
  title={A feasibility-driven approach to control-limited DDP},
  author={Mastalli C, Merkt W, Marti-Saumell J, Ferrolho H, Sola J et al.},
  journal={Autonomous Robots},
  volume={46},
  pages={985-1005},
  publisher={Springer},
  year = "2022"
}

BibTeX

@inproceedings{nextstepslearni-2022/7,
  title={Next steps: learning a disentangled gait representation for versatile quadruped locomotion},
  author={Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={10564-10570},
  year = "2022"
}

BibTeX

@article{whereshouldiloo-2021/12,
  title={Where should I look? Optimized gaze control for whole-body collision avoidance in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={1095-1102},
  publisher={IEEE},
  year = "2021"
}

BibTeX

@inproceedings{simultaneoussce-2021/12,
  title={Simultaneous scene reconstruction and whole-body motion planning for safe operation in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = "2021"
}

BibTeX

@article{memoryclusterin-2021/10,
  title={Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts},
  author={Merkt WX, Ivan V, Dinev T, Havoutis I & Vijayakumar S},
  journal={IEEE TRANSACTIONS ON ROBOTICS},
  volume={37},
  pages={1649-1660},
  year = "2021"
}

BibTeX

@inproceedings{inversedynamics-2021/10,
  title={Inverse dynamics vs. Forward dynamics in direct transcription formulations for trajectory optimization},
  author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={12752-12758},
  year = "2021"
}

BibTeX

@inproceedings{apassivenavigat-2021/10,
  title={A passive navigation planning algorithm for collision-free control of mobile robots},
  author={Tiseo C, Ivan V, Merkt W, Havoutis I, Mistry M et al.},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={8223-8229},
  year = "2021"
}

BibTeX

@inproceedings{sparsityinducin-2021/10,
  title={Sparsity-inducing optimal control via differential dynamic programming},
  author={Dinev T, Merkt W, Ivan V, Havoutis I & Vijayakumar S},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={8216-8222},
  year = "2021"
}

@inproceedings{predictedcompos-2021/8,
  title={Predicted composite signed-distance fields for real-time motion planning in dynamic environments},
  author={Finean M, Merkt W & Havoutis I},
  booktitle={International Conference on Automated Planning and Scheduling (ICAPS 2021)},
  pages={616-624},
  year = "2021"
}

BibTeX

@article{residualforcepo-2021/8,
  title={Residual force polytope: Admissible task-space forces of dynamic trajectories},
  author={Ferrolho H, Merkt W, Tiseo C & Vijayakumar S},
  journal={ROBOTICS AND AUTONOMOUS SYSTEMS},
  volume={142},
  number={ARTN 103814},
  year = "2021"
}

BibTeX

@article{hapficanadaptiv-2021/7,
  title={HapFIC: An adaptive force/position controller for safe environment interaction in articulated systems},
  author={Tiseo C, Merkt W, Babarahmati KK, Wolfslag W, Havoutis I et al.},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  volume={29},
  pages={1432-1440},
  publisher={IEEE},
  year = "2021"
}

BibTeX

@inproceedings{cpgactorreinfor-2021/1,
  title={CPG-Actor: Reinforcement Learning for Central Pattern Generators},
  author={Campanaro L, Gangapurwala S, De Martini D, Merkt W & Havoutis I},
  pages={25-35},
  year = "2021"
}

BibTeX

@inproceedings{rapidconvexopti-2021/,
  title={Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent},
  author={Shah P, Meduri A, Merkt W, Khadiv M, Havoutis I et al.},
  pages={1658-1665},
  year = "2021"
}

@inproceedings{autonomousnonde-2020/1,
  title={Autonomous non-destructive remote robotic inspection of offshoreassets},
  author={Ivan V, Garriga-Casanovas A, Merkt W, Cegla FB & Vijayakumar S},
  year = "2020"
}

@inproceedings{biomimeticadapt-2020/,
  title={Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance},
  author={Tiseo C, Merkt W, Babarahmati KK, Wolfslag W, Vijayakumar S et al.},
  pages={1180-1187},
  year = "2020"
}

BibTeX

@inproceedings{modelingandcont-2020/,
  title={Modeling and Control of a Hybrid Wheeled Jumping Robot},
  author={Dinev T, Xin S, Merkt W, Ivan V, Vijayakumar S et al.},
  pages={2563-2570},
  year = "2020"
}

BibTeX

@inproceedings{optimizingdynam-2020/,
  title={Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections},
  author={Ferrolho H, Merkt W, Ivan V, Wolfslag W, Vijayakumar S et al.},
  pages={7477-7484},
  year = "2020"
}

@inproceedings{crocoddylaneffi-2020/,
  title={Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control},
  author={Mastalli C, Budhiraja R, Merkt W, Saurel G, Hammoud B et al.},
  pages={2536-2542},
  year = "2020"
}

BibTeX

@inproceedings{continuoustimec-2019/11,
  title={Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments},
  author={Merkt W, Ivan V & Vijayakumar S},
  pages={7248-7255},
  year = "2019"
}

BibTeX

@inproceedings{comparingaltern-2019/8,
  title={Comparing alternate modes of teleoperation for constrained tasks},
  author={Mower CE, Merkt W, Davies A & Vijayakumar S},
  pages={1497-1504},
  year = "2019"
}

BibTeX

@inproceedings{towardssharedau-2019/8,
  title={Towards shared autonomy applications using whole-body control formulations of locomanipulation},
  author={Merkt W, Ivan V, Yang Y & Vijayakumar S},
  pages={1206-1211},
  year = "2019"
}

BibTeX

@inproceedings{planningintimec-2019/1,
  title={Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints},
  author={Yang Y, Merkt W, Ivan V & Vijayakumar S},
  pages={893-900},
  year = "2019"
}

BibTeX

@inproceedings{learningwholebo-2019/1,
  title={Learning Whole-Body Motor Skills for Humanoids},
  author={Yang C, Yuan K, Merkt W, Komura T, Vijayakumar S et al.},
  pages={776-783},
  year = "2019"
}

BibTeX

@inproceedings{wholebodyendpos-2019/1,
  title={Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments},
  author={Ferrolho H, Merkt W, Yang Y, Ivan V & Vijayakumar S},
  pages={944-951},
  year = "2019"
}

BibTeX

@misc{exoticaanextens-2019/1,
  title={EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control},
  author={Ivan V, Yang Y, Merkt W, Camilleri MP & Vijayakumar S},
  year = "2019"
}

BibTeX

@inproceedings{leveragingpreco-2018/12,
  title={Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments},
  author={Merkt W, Ivan V & Vijayakumar S},
  pages={5877-5884},
  year = "2018"
}

BibTeX

@article{hdrmaresolution-2018/1,
  title={HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes},
  author={Yang Y, Merkt W, Ivan V, Li Z & Vijayakumar V},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  pages={551-558},
  year = "2018"
}

BibTeX

@article{efficienthumano-2017/10,
  title={Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps},
  author={Yang Y, Merkt W, Ferrolho H, Ivan V & Vijayakumar S},
  journal={IEEE Robotics and Automation Letters},
  volume={2},
  pages={2279-2286},
  year = "2017"
}

@inproceedings{robustsharedaut-2017/,
  title={Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring},
  author={Merkt W, Yang Y, Stouraitis T, Mower CE, Fallon M et al.},
  pages={130-137},
  year = "2017"
}

BibTeX

@inproceedings{scalingsampling-2016/1,
  title={Scaling sampling-based motion planning to humanoid robots},
  author={Yang Y, Ivan V, Merkt W & Vijayakumar S},
  pages={1448-1454},
  year = "2016"
}