Model Hierarchy Predictive Control of Robotic Systems. - He Li; Robert J. Frei; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2021)

3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies. - Nolan Fey; Robert J. Frei; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2024)