Copertina

Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems

Fuente: arXiv

Salvato in:

Dettagli Bibliografici
Autori principali:	Kong, Nathan J., Payne, J. Joe, Zhu, James, Johnson, Aaron M.
Natura:	Preprint
Pubblicazione:	2023
Soggetti:	Robotics
Accesso online:	Acceder al recurso
Tags:	Aggiungi Tag Nessun Tag, puoi essere il primo ad aggiungerne!!

Documenti analoghi

Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems
di: Payne, J. Joe, et al.
Pubblicazione: (2024)

Path Integral Particle Filtering for Hybrid Systems via Saltation Matrices
di: Shaji, Karthik, et al.
Pubblicazione: (2026)

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
di: Zhu, James, et al.
Pubblicazione: (2023)

Multi-Momentum Observer Contact Estimation for Bipedal Robots
di: Payne, J. Joe, et al.
Pubblicazione: (2024)

Double-Anonymous Review for Robotics
di: Yim, Justin K., et al.
Pubblicazione: (2024)

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

Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix
di: Katayama, Sotaro, et al.
Pubblicazione: (2024)

A New Software Tool for Generating and Visualizing Robot Self-Collision Matrices
di: Klein-Seetharama, Roshan, et al.
Pubblicazione: (2025)

cHyRRT and cHySST: Two Motion Planning Tools for Hybrid Dynamical Systems
di: Xu, Beverly, et al.
Pubblicazione: (2024)

Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication
di: Tajbakhsh, Ardalan, et al.
Pubblicazione: (2025)

Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
di: Zhang, Wentao, et al.
Pubblicazione: (2024)

Tactile Probabilistic Contact Dynamics Estimation of Unknown Objects
di: Kim, Jinhoo, et al.
Pubblicazione: (2024)

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
di: Dai, Min, et al.
Pubblicazione: (2025)

Hybrid Quadratic Programming -- Pullback Bundle Dynamical Systems Control
di: Fichera, Bernardo, et al.
Pubblicazione: (2024)

Micromanipulation System for Microscale Magnetic Component Alignment and Assembly
di: Shindell, Oliver J., et al.
Pubblicazione: (2024)

Discretization of Linear Systems using the Matrix Exponential
di: Dahdah, Steven, et al.
Pubblicazione: (2025)

On the Surprising Effectiveness of Spectral Clipping in Learning Stable Linear and Latent-Linear Dynamical Systems
di: Guo, Hanyao, et al.
Pubblicazione: (2024)

Adaptive Complexity Model Predictive Control
di: Norby, Joseph, et al.
Pubblicazione: (2022)

SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control
di: Sun, Sunan, et al.
Pubblicazione: (2024)

Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints
di: Seewald, Adam, et al.
Pubblicazione: (2023)

Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning
di: Tajbakhsh, Ardalan, et al.
Pubblicazione: (2023)

SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks
di: Zhao, Shibo, et al.
Pubblicazione: (2024)

Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems
di: Hao, Wenjian, et al.
Pubblicazione: (2026)

Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings
di: Gupta, Harsh, et al.
Pubblicazione: (2026)

Prismatic World Model: Learning Compositional Dynamics for Planning in Hybrid Systems
di: Li, Mingwei, et al.
Pubblicazione: (2025)

Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
di: Shrivastava, Aayushi, et al.
Pubblicazione: (2026)

KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems
di: Li, Albert H., et al.
Pubblicazione: (2025)

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice
di: Compton, William D., et al.
Pubblicazione: (2024)

Hybrid System Planning using a Mixed-Integer ADMM Heuristic and Hybrid Zonotopes
di: Robbins, Joshua A., et al.
Pubblicazione: (2026)

EquiMus: Energy-Equivalent Dynamic Modeling and Simulation of Musculoskeletal Robots Driven by Linear Elastic Actuators
di: Zhu, Yinglei, et al.
Pubblicazione: (2025)

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
di: Shirai, Yuki, et al.
Pubblicazione: (2024)

HALO: Hybrid Auto-encoded Locomotion with Learned Latent Dynamics, Poincaré Maps, and Regions of Attraction
di: Werner, Blake, et al.
Pubblicazione: (2026)

Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations
di: Sommer, Cedric-Pascal, et al.
Pubblicazione: (2025)

An Event-Based Approach for the Conservative Compression of Covariance Matrices
di: Funk, Christopher, et al.
Pubblicazione: (2024)

A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
di: Esteban, Sergio A., et al.
Pubblicazione: (2025)

Data-driven Interpretable Hybrid Robot Dynamics
di: Mower, Christopher E., et al.
Pubblicazione: (2025)

Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA
di: Zhang, Chengjie, et al.
Pubblicazione: (2025)

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
di: Zhang, Zhuocheng, et al.
Pubblicazione: (2026)

Robotic Multimodal Data Acquisition for In-Field Deep Learning Estimation of Cover Crop Biomass
di: Johnson, Joe, et al.
Pubblicazione: (2025)

Guiding Reinforcement Learning with Incomplete System Dynamics
di: Wang, Shuyuan, et al.
Pubblicazione: (2024)