Trajectory optimization

Synthesis and stabilization of complex behaviors through online trajectory optimization

Yuval Tassa, Tom Erez, Emanuel Todorov

Citations: 760 • 2012

CHOMP: Covariant Hamiltonian optimization for motion planning

Matt Zucker, Nathan Ratliff, Anca D. Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher M. Dellin, J. Andrew Bagnell, Siddhartha S Srinivasa

Citations: 738 • 2013

A direct method for trajectory optimization of rigid bodies through contact

Michael Posa, Cecilia Cantu, Russ Tedrake

Citations: 608 • 2013

An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation

Matthew Kelly

Citations: 547 • 2017

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

Alexander Winkler, C. Dario Bellicoso, Marco Hutter, Jonas Buchli

Citations: 452 • 2018

A new method for smooth trajectory planning of robot manipulators

Alessandro Gasparetto, V. Zanotto

Citations: 431 • 2006

Fast iterative alignment of pose graphs with poor initial estimates

Eli Olson, John J. Leonard, Seth Teller

Citations: 427 • 2006

Trajectory-Tracking Control of Mobile Robot Systems Incorporating Neural-Dynamic Optimized Model Predictive Approach

Zhijun Li, Jun Deng, Renquan Lu, Xu Yong, Jianjun Bai, Chun‐Yi Su

Citations: 399 • 2015

Robot trajectory optimization using approximate inference

Marc Toussaint

Citations: 329 • 2009

Integrated online trajectory planning and optimization in distinctive topologies

Christoph Rösmann, Frank Hoffmann, Torsten Bertram

Citations: 309 • 2016

Optimal time-jerk trajectory planning for industrial robots

Junsen Huang, Peng Fei Hu, Kaiyuan Wu, Min Zeng

Citations: 259 • 2017

Continuous-time trajectory optimization for online UAV replanning

Helen Oleynikova, Michael Burri, Zachary Taylor, Juan Nieto, Roland Siegwart, Enric Galceran

Citations: 247 • 2016

Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently

Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk, Thomas Lew, Riccardo Bonalli, Marco Pavone, Behçet Açıkmeşe

Citations: 233 • 2022

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

Ayonga Hereid, Eric Cousineau, Christian Hubicki, Aaron D. Ames

Citations: 206 • 2016

Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking

Michael Neunert, Cedric de Crousaz, Fadri Furrer, Mina Kamel, Farbod Farshidian, Roland Siegwart, Jonas Buchli

Citations: 205 • 2016

Efficient trajectory optimization using a sparse model

Christoph Rösmann, Wendelin Feiten, Thomas Wösch, Frank Hoffmann, Torsten Bertram

Citations: 194 • 2013

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming

Daniel Morgan, Giri P. Subramanian, Soon‐Jo Chung, Fred Y. Hadaegh

Citations: 187 • 2016

Logic-geometric programming: an optimization-based approach to combined task and motion planning

Marc Toussaint

Citations: 186 • 2015

Autonomous Drone Racing with Deep Reinforcement Learning

Yunlong Song, Mats Steinweg, Elia Kaufmann, Davide Scaramuzza

Citations: 185 • 2021

Discrete mechanics and optimal control: An analysis

Sina Ober‐Blöbaum, Oliver Junge, Jerrold E. Marsden

Citations: 185 • 2010