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Sethu Vijayakumar
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OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control


Jan 31, 2023
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles

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ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction


Oct 13, 2022
Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar

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Inverse-Dynamics MPC via Nullspace Resolution


Sep 12, 2022
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar

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* 17 pages, 14 figures, under-review 
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Differentiable Optimal Control via Differential Dynamic Programming


Sep 02, 2022
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

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Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models


Apr 25, 2022
Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar

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* IEEE Robotics and Automation Letters (RA-L) 2022 
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Agile Maneuvers in Legged Robots: a Predictive Control Approach


Mar 14, 2022
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar

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* 19 pages, 16 figures 
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RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects


Mar 06, 2022
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar

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* 8 papges, 9 figures 
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RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms


Mar 02, 2022
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar

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* 15 pages, submitted to the IEEE Transactions on Robotics (T-RO) as an evolved paper. For associated videos, see https://shorturl.at/oFJU0 
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Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty


Oct 18, 2021
Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah

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Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints


Sep 27, 2021
João Moura, Theodoros Stouraitis, Sethu Vijayakumar

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