Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

This paper presents a review of past and present results and approaches in the area of
motion planning using MIP (Mixed-integer Programming). Although in the early 2000s MIP …

From quadrotors delivering packages in urban areas to robot arms moving in confined
warehouses, motion planning around obstacles is a core challenge in modern robotics …

In this article, we present an optimization-based framework for multicopter trajectory
planning subject to geometrical configuration constraints and user-defined dynamic …

Autonomous exploration of subterranean environments remains a major challenge for
robotic systems. In response, this paper contributes a novel graph‐based subterranean …

This paper describes a collection of optimization algorithms for achieving dynamic planning,
control, and state estimation for a bipedal robot designed to operate reliably in complex …

There is extensive literature on using convex optimization to derive piece-wise polynomial
trajectories for controlling differential flat systems with applications to three-dimensional …

We present a constrained optimization method for multi-robot formation control in dynamic
environments, where the robots adjust the parameters of the formation, such as size and …

In this work, we propose a search-based planning method to compute dynamically feasible
trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach …