Publications

You can also find my articles on my Google Scholar profile.


Preprints

  • Wolfgang Merkt*, Vladimir Ivan*, Traiko Dinev, Ioannis Havoutis, and Sethu Vijayakumar. Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. Under Review. [arXiv]
  • Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Sola, Nicolas Mansard, and Sethu Vijayakumar. A Direct-Indirect Hybridization Approach to Control-Limited DDP. [arXiv]
  • Mark Nicholas Finean, Wolfgang Merkt, and Ioannis Havoutis. Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. Under Review. [video] [arXiv]
  • Carlo Tiseo*, Wolfgang Merkt*, Wouter Wolfslag, Sethu Vijayakumar, and Michael Mistry. Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers. Under Review. [arXiv]
  • Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar. Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories. Under Review. [arXiv]

2020

  • Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, and Sethu Vijayakumar. Optimizing Dynamic Trajectories for Robustness to Disturbances using Polytopic Projections. Proc. IEEE International Conf. on Intelligent Robots (IROS), 2020. [pdf] [video] [presentation] [arXiv]
  • Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar. Modeling and Control of a Hybrid Wheeled Jumping Robot. Proc. IEEE International Conf. on Intelligent Robots (IROS), 2020. [pdf] [video] [presentation] [arXiv]
  • Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, and Michael Mistry. Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. Proc. IEEE RAS/EMBS International Conf. on Biomedical Robotics & Biomechatronics (BioRob), 2020. [pdf] [video] [arXiv]
  • Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, and Nicolas Mansard. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. Proc. IEEE International Conf. on Robotics and Automation, 2020. [pdf] [video] [presentation] [code] [arXiv]
  • Vladimir Ivan, Arnau Garriga-Casanovas, Pouyan Khalili, Wolfgang Merkt, Frederic B. Cegla, and Sethu Vijayakumar, Autonomous Non-destructive Remote Robotic Inspection of Offshore Assets, Offshore Technology Conference, 2020. [pdf] [presentation] [DOI: 10.4043/30754-MS]

2019

  • Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar. Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. Proc. IEEE International Conf. on Intelligent Robots (IROS), 2019. [pdf] [video] [DOI: 10.1109/IROS40897.2019.8967641]
  • Wolfgang Merkt, Vladimir Ivan, Yiming Yang, and Sethu Vijayakumar. Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. Proc. IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019. [pdf] [videos] [DOI: 10.1109/COASE.2019.8843153]
  • Christopher E. Mower, Wolfgang Merkt, and Sethu Vijayakumar. Comparing Alternate Modes of Teleoperation for Constrained Tasks. Proc. IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019. [pdf] [video] [arXiv] [DOI: 10.1109/COASE.2019.8843265]
  • Vladimir Ivan, Yiming Yang, Wolfgang Merkt, Michael P. Camilleri, and Sethu Vijayakumar. EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control, in Koubaa, A. (ed.) Robot Operating System (ROS): The Complete Reference (Volume 3), Springer, p. 211-240, 2019. [pdf] [code] [documentation] [DOI: 10.1007/978-3-319-91590-6_7]

2018

  • Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, and Zhibin Li. Learning whole-body motor skills for humanoids. Proc. IEEE-RAS 18th International Conference on Humanoid Robots, 2018. [pdf] [video] [arXiv] [DOI: 10.1109/HUMANOIDS.2018.8625045]
  • Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar. Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints. Proc. IEEE-RAS 18th International Conference on Humanoid Robots, 2018. [pdf] [video] [DOI: 10.1109/HUMANOIDS.2018.8624989]
  • Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar. Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments. Proc. IEEE-RAS 18th International Conference on Humanoid Robots, 2018. [pdf] [video] [DOI: 10.1109/HUMANOIDS.2018.8625026]
  • Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar. Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. Proc. IEEE International Conf. on Intelligent Robots (IROS 2018), Madrid, Spain (2018). [pdf] [video] [DOI: 10.1109/IROS.2018.8593977]
  • Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li, and Sethu Vijayakumar. HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes. IEEE Robotics and Automation Letters, 2018, In Press. [pdf] [video] [DOI: 10.1109/LRA.2017.2773669]

2017

  • Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher Mower, Maurice Fallon, and Sethu Vijayakumar. Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring. Proc. 13th IEEE Conference on Automation Science and Engineering, Xian, China (2017). [pdf] [video] [details, including press coverage] [DOI: 10.1109/COASE.2017.8256092]
    [First Prize at Robots for Resilient Infrastructure Challenge 2017, Leeds, UK]
  • Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan, and Sethu Vijayakumar. Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps. IEEE Robotics and Automation Letters, 2017, In Press. [pdf] [video] [DOI: 10.1109/LRA.2017.2727538]

2016

  • Yiming Yang, Vladimir Ivan, Wolfgang Merkt and Sethu Vijayakumar. Scaling Sampling–based Motion Planning to Humanoid Robots. Proc. IEEE International Conf. on Robotics and Biomimetics (ROBIO 2016), Qingdao, China (2016). [pdf] [video] [DOI: 10.1109/ROBIO.2016.7866531]