• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Invited Speakers, Seminars, and Events
    • IRIM Seminar Series
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Invited Speakers, Seminars, and Events
    • IRIM Seminar Series
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Mixed-Integer Convex Formulations for Planning Nonlinear Dynamics in Complex Environments

    Thumbnail
    View/Open
    tedrake.mp4 (430.3Mb)
    tedrake_videostream.html (962bytes)
    Date
    2016-10-19
    Author
    Tedrake, Russ
    Metadata
    Show full item record
    Abstract
    Humanoid robots walking across intermittent terrain, robotic arms grasping multifaceted objects, or UAVs darting left or right around a tree — many of the dynamics and control problems we face today have an inherently combinatorial structure. In this talk, I’ll review some recent work on planning and control methods that address this combinatorial structure without sacrificing the rich underlying nonlinear dynamics. I’ll present some details of our explorations with mixed-integer convex- and SDP-relaxations applied to hard problems in legged locomotion over rough terrain, grasp optimization, and UAVs flying through highly cluttered environments.
    URI
    http://hdl.handle.net/1853/55999
    Collections
    • IRIM Seminar Series [126]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology