One of the fundamental fields of research is motion planning. Mobile manipulators present a
unique set of challenges for the planning algorithms, as they are usually kinematically …

Many estimation, planning, and optimal control problems in robotics have an optimization
problem at their core. In most of these optimization problems, the objective to be maximized …

We introduce a novel formulation of motion planning, for continuous-time trajectories, as
probabilistic inference. We first show how smooth continuous-time trajectories can be …

We propose a method that simultaneously estimates and controls extrinsic contact with
tactile feedback. The method enables challenging manipulation tasks that require controlling …

Robots deployed to the real world must be able to interact with other agents in their
environment. Dynamic game theory provides a powerful mathematical framework for …

Robot motion planning methods based on trajectory optimization can efficiently generate
feasible and optimal trajectories by minimizing a suitable cost function, even in high …

Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this
paper, we formulate the calligraphy writing problem as a trajectory optimization problem …

Factor graphs are graphical models used to represent a wide variety of problems across
robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping …

In the optimization of real-time systems, designers often face a challenging problem where
the schedulability conditions are non-convex, non-continuous, or lack an analytical form to …

Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors
are often corrupted in those complicated and large-scale environments. This paper …