Cover Image

Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Lidec, Quentin Le, Schramm, Fabian, Montaut, Louis, Schmid, Cordelia, Laptev, Ivan, Carpentier, Justin
Format:	Preprint
Published:	2022
Subjects:	Robotics Optimization and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Contact Models in Robotics: a Comparative Analysis
by: Lidec, Quentin Le, et al.
Published: (2023)

From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach
by: Carpentier, Justin, et al.
Published: (2024)

End-to-End and Highly-Efficient Differentiable Simulation for Robotics
by: Lidec, Quentin Le, et al.
Published: (2024)

Differentiable Simulation of Soft Robots with Frictional Contacts
by: Ménager, Etienne, et al.
Published: (2025)

Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
by: Jallet, Wilson, et al.
Published: (2024)

Reference-Free Sampling-Based Model Predictive Control
by: Schramm, Fabian, et al.
Published: (2025)

A Comparison of Reinforcement Learning and Optimal Control Methods for Path Planning
by: Le, Qiang, et al.
Published: (2026)

Path Integral Control for Hybrid Dynamical Systems
by: Yu, Hongzhe, et al.
Published: (2024)

A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact
by: Beker, Onur, et al.
Published: (2025)

Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance
by: Wu, Shizhen, et al.
Published: (2025)

Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints
by: Xu, Ming, et al.
Published: (2025)

CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization
by: Alboni, Elisa, et al.
Published: (2023)

Fast Near Time-Optimal Motion Planning for Holonomic Vehicles in Structured Environments
by: Callens, Louis, et al.
Published: (2026)

Sampling-Based Control via Entropy-Regularized Optimal Transport
by: Pacelli, Vincent, et al.
Published: (2026)

TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors
by: Mao, Katherine, et al.
Published: (2023)

Adaptive Riemannian ADMM for Nonsmooth Optimization: Optimal Complexity without Smoothing
by: Deng, Kangkang, et al.
Published: (2025)

Learning Free Terminal Time Optimal Closed-loop Control of Manipulators
by: Hu, Wei, et al.
Published: (2023)

The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems
by: Choi, Jinwoo, et al.
Published: (2025)

Advancing Frontiers of Path Integral Theory for Stochastic Optimal Control
by: Patil, Apurva
Published: (2025)

Dynamics-aware Diffusion Models for Planning and Control
by: Gadginmath, Darshan, et al.
Published: (2025)

Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines
by: Dirckx, Dries, et al.
Published: (2025)

SLAM as a Stochastic Control Problem with Partial Information: Optimal Solutions and Rigorous Approximations
by: Gusija, Ilir, et al.
Published: (2026)

Featurized Occupation Measures for Structured Global Search in Numerical Optimal Control
by: Wei, Qi, et al.
Published: (2026)

Revisiting Randomized Smoothing: Nonsmooth Nonconvex Optimization Beyond Global Lipschitz Continuity
by: Xia, Jingfan, et al.
Published: (2025)

Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions
by: Liu, Shuo, et al.
Published: (2024)

A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
by: Yang, Lujie, et al.
Published: (2025)

Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
by: Long, Kehan, et al.
Published: (2023)

Interpreting and Improving Optimal Control Problems with Directional Corrections
by: Barron, Trevor, et al.
Published: (2025)

Reduced-order Control and Geometric Structure of Learned Lagrangian Latent Dynamics
by: Friedl, Katharina, et al.
Published: (2026)

Density-Driven Optimal Control: Convergence Guarantees for Stochastic LTI Multi-Agent Systems
by: Lee, Kooktae
Published: (2026)

Safe and Near-Optimal Control with Online Dynamics Learning
by: Prajapat, Manish, et al.
Published: (2025)

Sparse Identification of Nonlinear Dynamics-based Model Predictive Control for Multirotor Collision Avoidance
by: Lee, Jayden Dongwoo, et al.
Published: (2024)

Exhaustive-Serve-Longest Control for Multi-robot Scheduling Systems
by: Merati, Mohammad, et al.
Published: (2025)

Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
by: Cohen, Max H., et al.
Published: (2025)

Penalty-Based Smoothing of Convex Nonsmooth Supremum Functions with Accelerated Inertial Dynamics
by: Adly, Samir, et al.
Published: (2026)

Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions
by: Mestres, Pol, et al.
Published: (2024)

Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
by: Long, Kehan, et al.
Published: (2024)

Smoothing Iterative Consensus-based Optimization Algorithm for Nonsmooth Nonconvex Optimization Problems with Global Optimality
by: Wei, Jiazhen, et al.
Published: (2025)

Distributed Non-Uniform Scaling Control of Multi-Agent Formation with Dynamic Agent Joining
by: He, Tao, et al.
Published: (2026)

Robust Attitude Control of Nonlinear UAV Dynamics with LFT Models and $\mathcal{H}_\infty$ Performance
by: Kumar, Tanay, et al.
Published: (2025)