| 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 | 204 | 2019 |
| 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 | 31 | 2018 |
| 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 | 30 | 2017 |
| 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 | 23 | 2018 |
| A Feasibility-Driven Approach to Control-Limited DDP C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ... Autonomous Robots, 2022 | 21* | 2022 |
| Continuous-time collision avoidance for trajectory optimization in dynamic environments W Merkt, V Ivan, S Vijayakumar IEEE IROS 2019, 2019 | 21 | 2019 |
| 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 | 21 | 2019 |
| 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 | 18 | 2017 |
| 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 | 17 | 2016 |
| 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 | 15 | 2022 |
| 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 | 14 | 2020 |
| 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 | 13 | 2017 |
| 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 | 12 | 2021 |
| 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 | 12 | 2018 |
| Roloma: Robust loco-manipulation for quadruped robots with arms H Ferrolho, V Ivan, W Merkt, I Havoutis, S Vijayakumar arXiv preprint arXiv:2203.01446, 2022 | 11 | 2022 |
| Safe and compliant control of redundant robots using a stack of passive task-space controllers C Tiseo, W Merkt, W Wolfslag, S Vijayakumar, M Mistry arXiv preprint arXiv:2002.12249, 2020 | 10 | 2020 |
| Rapid convex optimization of centroidal dynamics using block coordinate descent P Shah, A Meduri, W Merkt, M Khadiv, I Havoutis, L Righetti 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021 | 9 | 2021 |
| A passive navigation planning algorithm for collision-free control of mobile robots C Tiseo, V Ivan, W Merkt, I Havoutis, M Mistry, S Vijayakumar 2021 IEEE International Conference on Robotics and Automation (ICRA), 8223-8229, 2021 | 9 | 2021 |
| 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 | 8 | 2021 |
| 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 | 8 | 2021 |
