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Wolfgang Merkt
2020 – today
- 2024
- [c26]Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis:
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. ICRA 2024: 14917-14923 - [c25]Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis:
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics. IROS 2024: 11940-11947 - [c24]Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC 2024: 578-590 - [i33]Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner:
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. CoRR abs/2405.19452 (2024) - [i32]Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis:
Adaptive Manipulation using Behavior Trees. CoRR abs/2406.14634 (2024) - 2023
- [j9]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots 47(8): 1463-1481 (2023) - [j8]Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis:
Motion planning in dynamic environments using context-aware human trajectory prediction. Robotics Auton. Syst. 166: 104450 (2023) - [j7]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics 39(5): 3805-3820 (2023) - [c23]Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis:
Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. CASE 2023: 1-7 - [c22]Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Roll-Drop: accounting for observation noise with a single parameter. L4DC 2023: 718-730 - [i31]Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Roll-Drop: accounting for observation noise with a single parameter. CoRR abs/2304.13150 (2023) - [i30]Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau:
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR abs/2305.08926 (2023) - [i29]Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis:
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. CoRR abs/2310.02791 (2023) - [i28]Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis:
Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. CoRR abs/2310.06074 (2023) - 2022
- [j6]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A feasibility-driven approach to control-limited DDP. Auton. Robots 46(8): 985-1005 (2022) - [j5]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. IEEE Robotics Autom. Lett. 7(2): 1095-1102 (2022) - [c21]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA 2022: 10564-10570 - [i27]Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis:
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction. CoRR abs/2201.05058 (2022) - [i26]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR abs/2203.01446 (2022) - [i25]Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar:
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR abs/2203.07554 (2022) - [i24]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR abs/2205.01179 (2022) - [i23]Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis:
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR abs/2209.12878 (2022) - [i22]Majid Khonji, Rashid Alyassi, Wolfgang Merkt, Areg Karapetyan, Xin Huang, Sungkweon Hong, Jorge Dias, Brian C. Williams:
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection. CoRR abs/2210.01766 (2022) - 2021
- [j4]Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar:
Residual force polytope: Admissible task-space forces of dynamic trajectories. Robotics Auton. Syst. 142: 103814 (2021) - [j3]Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar:
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics 37(5): 1649-1660 (2021) - [c20]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. ICAPS 2021: 616-624 - [c19]Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar:
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA 2021: 8216-8222 - [c18]Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar:
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA 2021: 8223-8229 - [c17]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA 2021: 12752-12758 - [c16]Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS 2021: 1658-1665 - [c15]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. IROS 2021: 3710-3717 - [c14]Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis:
CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS 2021: 25-35 - [i21]Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis:
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR abs/2102.12891 (2021) - [i20]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. CoRR abs/2103.03958 (2021) - [i19]Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry:
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. CoRR abs/2106.10648 (2021) - [i18]Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR abs/2108.01797 (2021) - [i17]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. CoRR abs/2109.04721 (2021) - [i16]Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner:
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. CoRR abs/2112.04809 (2021) - 2020
- [c13]Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry:
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. BioRob 2020: 1180-1187 - [c12]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [c11]Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Modeling and Control of a Hybrid Wheeled Jumping Robot. IROS 2020: 2563-2570 - [c10]Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar:
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. IROS 2020: 7477-7484 - [i15]Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li:
Learning Whole-body Motor Skills for Humanoids. CoRR abs/2002.02991 (2020) - [i14]Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry:
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers. CoRR abs/2002.12249 (2020) - [i13]Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar:
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. CoRR abs/2003.00609 (2020) - [i12]Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Modeling and Control of a Hybrid Wheeled Jumping Robot. CoRR abs/2003.01440 (2020) - [i11]Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry:
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. CoRR abs/2003.01466 (2020) - [i10]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. CoRR abs/2008.00969 (2020) - [i9]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR abs/2010.00411 (2020) - [i8]Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar:
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR abs/2010.01024 (2020) - [i7]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR abs/2010.05359 (2020) - [i6]Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar:
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR abs/2011.00390 (2020) - [i5]Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar:
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR abs/2011.07325 (2020)
2010 – 2019
- 2019
- [c9]Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar:
Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. CASE 2019: 1206-1211 - [c8]Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar:
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CASE 2019: 1497-1504 - [c7]Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. IROS 2019: 7248-7255 - [i4]Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar:
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CoRR abs/1905.04428 (2019) - [i3]Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar:
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization. CoRR abs/1908.05380 (2019) - [i2]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR abs/1909.04947 (2019) - 2018
- [j2]Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li, Sethu Vijayakumar:
HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes. IEEE Robotics Autom. Lett. 3(1): 551-558 (2018) - [c6]Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints. Humanoids 2018: 1-9 - [c5]Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li:
Learning Whole-Body Motor Skills for Humanoids. Humanoids 2018: 270-276 - [c4]Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar:
Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments. Humanoids 2018: 944-951 - [c3]Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar:
Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. IROS 2018: 5877-5884 - 2017
- [j1]Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan, Sethu Vijayakumar:
Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps. IEEE Robotics Autom. Lett. 2(4): 2279-2286 (2017) - [c2]Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher E. Mower, Maurice F. Fallon, Sethu Vijayakumar:
Robust shared autonomy for mobile manipulation with continuous scene monitoring. CASE 2017: 130-137 - 2016
- [c1]Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar:
Scaling sampling-based motion planning to humanoid robots. ROBIO 2016: 1448-1454 - [i1]Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar:
Scaling Sampling-based Motion Planning to Humanoid Robots. CoRR abs/1607.07470 (2016)
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last updated on 2025-01-06 01:57 CET by the dblp team
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