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Wolfgang Merkt
Wolfgang Merkt
Senior Researcher, Oxford Robotics Institute
Verified email at robots.ox.ac.uk - Homepage
Title
Cited by
Cited by
Year
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
C Mastalli, R Budhiraja, W Merkt, G Saurel, B Hammoud, M Naveau, ...
IEEE ICRA 2020, 2019
3132019
Agile maneuvers in legged robots: a predictive control approach
C Mastalli, W Merkt, G Xin, J Shim, M Mistry, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2203.07554, 2022
552022
A Feasibility-Driven Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ...
Autonomous Robots, 2022
49*2022
Learning whole-body motor skills for humanoids
C Yang, K Yuan, W Merkt, T Komura, S Vijayakumar, Z Li
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids …, 2018
412018
Roloma: Robust loco-manipulation for quadruped robots with arms
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
Autonomous Robots 47 (8), 1463-1481, 2023
372023
Efficient humanoid motion planning on uneven terrain using paired forward-inverse dynamic reachability maps
Y Yang, W Merkt, H Ferrolho, V Ivan, S Vijayakumar
IEEE Robotics and Automation Letters 2 (4), 2279-2286, 2017
322017
Optimizing dynamic trajectories for robustness to disturbances using polytopic projections
H Ferrolho, W Merkt, V Ivan, W Wolfslag, S Vijayakumar
2020 IEEE/RSJ international conference on intelligent robots and systems …, 2020
282020
Leveraging precomputation with problem encoding for warm-starting trajectory optimization in complex environments
W Merkt, V Ivan, S Vijayakumar
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
252018
Continuous-time collision avoidance for trajectory optimization in dynamic environments
W Merkt, V Ivan, S Vijayakumar
IEEE IROS 2019, 2019
242019
Exotica: An extensible optimization toolset for prototyping and benchmarking motion planning and control
V Ivan, Y Yang, W Merkt, MP Camilleri, S Vijayakumar
Robot Operating System (ROS) The Complete Reference (Volume 3), 211-240, 2019
242019
HDRM: A resolution complete dynamic roadmap for real-time motion planning in complex scenes
Y Yang, W Merkt, V Ivan, Z Li, S Vijayakumar
IEEE Robotics and Automation Letters 3 (1), 551-558, 2017
212017
Scaling sampling-based motion planning to humanoid robots
Y Yang, V Ivan, W Merkt, S Vijayakumar
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1448 …, 2016
202016
Robust shared autonomy for mobile manipulation with continuous scene monitoring
W Merkt, Y Yang, T Stouraitis, CE Mower, M Fallon, S Vijayakumar
2017 13th IEEE Conference on Automation Science and Engineering (CASE), 130-137, 2017
192017
Inverse dynamics vs. forward dynamics in direct transcription formulations for trajectory optimization
H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar
2021 IEEE International Conference on Robotics and Automation (ICRA), 12752 …, 2021
182021
Planning in time-configuration space for efficient pick-and-place in non-static environments with temporal constraints
Y Yang, W Merkt, V Ivan, S Vijayakumar
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-9, 2018
182018
Memory clustering using persistent homology for multimodality-and discontinuity-sensitive learning of optimal control warm-starts
WX Merkt, V Ivan, T Dinev, I Havoutis, S Vijayakumar
IEEE Transactions on Robotics 37 (5), 1649-1660, 2021
152021
Simultaneous scene reconstruction and whole-body motion planning for safe operation in dynamic environments
MN Finean, W Merkt, I Havoutis
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
142021
Predicted composite signed-distance fields for real-time motion planning in dynamic environments
MN Finean, W Merkt, I Havoutis
Proceedings of the International Conference on Automated Planning and …, 2021
142021
Comparing alternate modes of teleoperation for constrained tasks
CE Mower, W Merkt, A Davies, S Vijayakumar
2019 IEEE 15th International Conference on Automation Science and …, 2019
142019
Motion planning in dynamic environments using context-aware human trajectory prediction
MN Finean, L Petrović, W Merkt, I Marković, I Havoutis
Robotics and autonomous systems 166, 104450, 2023
132023
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