Scaling sampling-based motion planning to humanoid robots. - Yiming Yang; Vladimir Ivan; Wolfgang Merkt; Sethu Vijayakumar (ROBIO, 2016)

Robust shared autonomy for mobile manipulation with continuous scene monitoring. - Wolfgang Merkt; Yiming Yang; Theodoros Stouraitis; Christopher E. Mower; Maurice F. Fallon; Sethu Vijayakumar (CASE, 2017)

Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps. - Yiming Yang; Wolfgang Merkt; Henrique Ferrolho; Vladimir Ivan; Sethu Vijayakumar (IEEE Robotics Autom. Lett., 2017)

Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments. - Henrique Ferrolho; Wolfgang Merkt; Yiming Yang; Vladimir Ivan; Sethu Vijayakumar (Humanoids, 2018)

Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints. - Yiming Yang; Wolfgang Merkt; Vladimir Ivan; Sethu Vijayakumar (Humanoids, 2018)

Learning Whole-Body Motor Skills for Humanoids. - Chuanyu Yang; Kai Yuan; Wolfgang Merkt; Taku Komura; Sethu Vijayakumar; Zhibin Li 001 (Humanoids, 2018)

Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. - Wolfgang Merkt; Vladimir Ivan; Sethu Vijayakumar (IROS, 2018)

HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes. - Yiming Yang; Wolfgang Merkt; Vladimir Ivan; Zhibin Li 001; Sethu Vijayakumar (IEEE Robotics Autom. Lett., 2018)

Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. - Wolfgang Merkt; Vladimir Ivan; Yiming Yang; Sethu Vijayakumar (CASE, 2019)

Comparing Alternate Modes of Teleoperation for Constrained Tasks. - Christopher E. Mower; Wolfgang Merkt; Aled Davies; Sethu Vijayakumar (CASE, 2019)

Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. - Wolfgang Merkt; Vladimir Ivan; Sethu Vijayakumar (IROS, 2019)

Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization. - Henrique Ferrolho; Wolfgang Merkt; Carlo Tiseo; Sethu Vijayakumar (CoRR, 2019)

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. - Carlos Mastalli; Rohan Budhiraja; Wolfgang Merkt; Guilhem Saurel; Bilal Hammoud; Maximilien Naveau; Justin Carpentier; Sethu Vijayakumar; Nicolas Mansard (CoRR, 2019)

Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. - Carlo Tiseo; Wolfgang Merkt; Keyhan Kouhkiloui Babarahmati; Wouter Wolfslag; Sethu Vijayakumar; Michael N. Mistry (BioRob, 2020)

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. - Carlos Mastalli; Rohan Budhiraja; Wolfgang Merkt; Guilhem Saurel; Bilal Hammoud; Maximilien Naveau; Justin Carpentier; Ludovic Righetti; Sethu Vijayakumar; Nicolas Mansard (ICRA, 2020)

Modeling and Control of a Hybrid Wheeled Jumping Robot. - Traiko Dinev; Songyan Xin; Wolfgang Merkt; Vladimir Ivan; Sethu Vijayakumar (IROS, 2020)

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. - Henrique Ferrolho; Wolfgang Merkt; Vladimir Ivan; Wouter Wolfslag; Sethu Vijayakumar (IROS, 2020)

Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers. - Carlo Tiseo; Wolfgang Merkt; Wouter Wolfslag; Sethu Vijayakumar; Michael N. Mistry (CoRR, 2020)

A Direct-Indirect Hybridization Approach to Control-Limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (CoRR, 2020)

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. - Mark Nicholas Finean; Wolfgang Merkt; Ioannis Havoutis (ICAPS, 2021)

Sparsity-Inducing Optimal Control via Differential Dynamic Programming. - Traiko Dinev; Wolfgang Merkt; Vladimir Ivan; Ioannis Havoutis; Sethu Vijayakumar (ICRA, 2021)

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. - Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar (ICRA, 2021)

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. - Carlo Tiseo; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Michael N. Mistry; Sethu Vijayakumar (ICRA, 2021)

Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. - Mark Nicholas Finean; Wolfgang Merkt; Ioannis Havoutis (IROS, 2021)

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. - Paarth Shah; Avadesh Meduri; Wolfgang Merkt; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IROS, 2021)

CPG-Actor: Reinforcement Learning for Central Pattern Generators. - Luigi Campanaro; Siddhant Gangapurwala; Daniele De Martini; Wolfgang Merkt; Ioannis Havoutis (TAROS, 2021)

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. - Carlo Tiseo; Wolfgang Merkt; Keyhan Kouhkiloui Babarahmati; Wouter Wolfslag; Ioannis Havoutis; Sethu Vijayakumar; Michael N. Mistry (CoRR, 2021)

Residual force polytope: Admissible task-space forces of dynamic trajectories. - Henrique Ferrolho; Wolfgang Merkt; Carlo Tiseo; Sethu Vijayakumar (Robotics Auton. Syst., 2021)

Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. - Wolfgang Merkt; Vladimir Ivan; Traiko Dinev; Ioannis Havoutis; Sethu Vijayakumar (IEEE Trans. Robotics, 2021)

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. - Alexander L. Mitchell; Wolfgang Merkt; Mathieu Geisert; Siddhant Gangapurwala; Martin Engelcke; Oiwi Parker Jones; Ioannis Havoutis; Ingmar Posner (ICRA, 2022)

A feasibility-driven approach to control-limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Henrique Ferrolho; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (Auton. Robots, 2022)

Agile Maneuvers in Legged Robots: a Predictive Control Approach. - Carlos Mastalli; Wolfgang Merkt; Guiyang Xin; Jaehyun Shim; Michael N. Mistry; Ioannis Havoutis; Sethu Vijayakumar (CoRR, 2022)

Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection. - Majid Khonji; Rashid Alyassi; Wolfgang Merkt; Areg Karapetyan; Xin Huang 018; Sungkweon Hong; Jorge Dias 001; Brian C. Williams (CoRR, 2022)

Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. - Mark Nicholas Finean; Wolfgang Merkt; Ioannis Havoutis (IEEE Robotics Autom. Lett., 2022)

Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. - Kim Tien Ly; Matthew Munks; Wolfgang Merkt; Ioannis Havoutis (CASE, 2023)

Roll-Drop: accounting for observation noise with a single parameter. - Luigi Campanaro; Daniele De Martini; Siddhant Gangapurwala; Wolfgang Merkt; Ioannis Havoutis (L4DC, 2023)

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. - Thomas Corbères; Carlos Mastalli; Wolfgang Merkt; Ioannis Havoutis; Maurice F. Fallon; Nicolas Mansard; Thomas Flayols; Sethu Vijayakumar; Steve Tonneau (CoRR, 2023)

Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. - Aristotelis Papatheodorou; Wolfgang Merkt; Alexander L. Mitchell; Ioannis Havoutis (CoRR, 2023)

Motion planning in dynamic environments using context-aware human trajectory prediction. - Mark Nicholas Finean; Luka Petrovic; Wolfgang Merkt; Ivan Markovic; Ioannis Havoutis (Robotics Auton. Syst., 2023)

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. - Alexander L. Mitchell; Wolfgang Merkt; Mathieu Geisert; Siddhant Gangapurwala; Martin Engelcke; Oiwi Parker Jones; Ioannis Havoutis; Ingmar Posner (IEEE Trans. Robotics, 2023)

RoLoMa: robust loco-manipulation for quadruped robots with arms. - Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar (Auton. Robots, 2023)

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. - Alexander Luis Mitchell; Wolfgang Merkt; Aristotelis Papatheodorou; Ioannis Havoutis; Ingmar Posner (CoRL, 2024)

R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. - Kim Tien Ly; Valeriy Semenov; Mattia Risiglione; Wolfgang Merkt; Ioannis Havoutis (ICRA, 2024)

Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics. - Aristotelis Papatheodorou; Wolfgang Merkt; Alexander L. Mitchell; Ioannis Havoutis (IROS, 2024)

Learning and deploying robust locomotion policies with minimal dynamics randomization. - Luigi Campanaro; Siddhant Gangapurwala; Wolfgang Merkt; Ioannis Havoutis (L4DC, 2024)

Adaptive Manipulation using Behavior Trees. - Jacques Cloete; Wolfgang Merkt; Ioannis Havoutis (CoRR, 2024)

Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. - Thomas Corbères; Carlos Mastalli; Wolfgang Merkt; Jaehyun Shim; Ioannis Havoutis; Maurice F. Fallon; Nicolas Mansard; Thomas Flayols; Sethu Vijayakumar; Steve Tonneau (IEEE Access, 2025)

Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy. - David Rytz; Suyoung Choi; Wanming Yu; Wolfgang Merkt; Jemin Hwangbo; Ioannis Havoutis (CoRR, 2025)