Differential Dynamic Programming (DDP) is an efficient computational tool for solving
nonlinear optimal control problems. It was originally designed as a single shooting method …

This article presents a model predictive control (MPC) method for redundant robots
controlling multiple hierarchical tasks formulated as multilayer constrained optimal control …

As wind energy continuously expands its share in power generation, the grid has a higher
requirement for stable wind production. This study aims for a wind forecasting-based turbine …

Abstract “Motion generation by imitating” enables a robot to generate its trajectory in a new
environment. Research works on dynamic movement primitives (DMP) has reported …

In complex environments where occupied and unknown areas exceed the free space, it is
essential for robots to utilize efficient methods for environmental perception, trajectory …

This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …

Trajectory optimization (TO) has proven, over the last decade, to be a versatile and effective
framework for robot control. Several numerical solvers have been demonstrated to be fast …

Optimization layers within neural network architectures have become increasingly popular
for their ability to solve a wide range of machine learning tasks and to model domain-specific …

This paper presents PIQP, a high-performance toolkit for solving generic sparse quadratic
programs (QP). Combining an infeasible Interior Point Method (IPM) with the Proximal …

In recent years, many estimation problems in robotics have been shown to be solvable to
global optimality using their semidefinite relaxations. However, the runtime complexity of off …