Wolfgang Merkt

Publication Activity (10 Years)

Years Active: 2016-2024
Publications (10 Years): 67

Top Topics

Dynamic Environments

Inverse Kinematics

Motion Planning

Top Venues

Publications

Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
Adaptive Manipulation using Behavior Trees. CoRR (2024)
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC (2024)
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. CoRR (2024)
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. ICRA (2024)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots 47 (8) (2023)
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Roll-Drop: accounting for observation noise with a single parameter. L4DC (2023)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics 39 (5) (2023)
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. CoRR (2023)
Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis
Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. CASE (2023)
Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
Motion planning in dynamic environments using context-aware human trajectory prediction. Robotics Auton. Syst. 166 (2023)
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Roll-Drop: accounting for observation noise with a single parameter. CoRR (2023)
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR (2023)
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis
Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. CoRR (2023)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. IEEE Robotics Autom. Lett. 7 (2) (2022)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A feasibility-driven approach to control-limited DDP. Auton. Robots 46 (8) (2022)
Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction. CoRR (2022)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA (2022)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR (2022)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR (2022)
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR (2022)
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR (2022)
Majid Khonji, Rashid Alyassi, Wolfgang Merkt, Areg Karapetyan, Xin Huang, Sungkweon Hong, Jorge Dias, Brian C. Williams
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection. CoRR (2022)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. CoRR (2021)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. CoRR (2021)
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS (2021)
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics 37 (5) (2021)
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA (2021)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. CoRR (2021)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. IROS (2021)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA (2021)
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR (2021)
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS (2021)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. ICAPS (2021)
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
Residual force polytope: Admissible task-space forces of dynamic trajectories. Robotics Auton. Syst. 142 (2021)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. CoRR (2021)
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
Learning Whole-body Motor Skills for Humanoids. CoRR (2020)
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. IROS (2020)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. CoRR (2020)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR (2020)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. BioRob (2020)
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR (2020)
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR (2020)
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA (2020)
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers. CoRR (2020)
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Modeling and Control of a Hybrid Wheeled Jumping Robot. IROS (2020)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR (2020)
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. CoRR (2020)
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Modeling and Control of a Hybrid Wheeled Jumping Robot. CoRR (2020)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. CoRR (2020)
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR (2020)
Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. IROS (2019)
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR (2019)
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CASE (2019)
Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar
Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. CASE (2019)
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CoRR (2019)
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization. CoRR (2019)
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
Learning Whole-Body Motor Skills for Humanoids. Humanoids (2018)
Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. IROS (2018)
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. Humanoids (2018)
Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li, Sethu Vijayakumar
HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes. IEEE Robotics Autom. Lett. 3 (1) (2018)
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. Humanoids (2018)
Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan, Sethu Vijayakumar
Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps. IEEE Robotics Autom. Lett. 2 (4) (2017)
Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher E. Mower, Maurice F. Fallon, Sethu Vijayakumar
Robust shared autonomy for mobile manipulation with continuous scene monitoring. CASE (2017)
Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar
Scaling Sampling-based Motion Planning to Humanoid Robots. CoRR (2016)
Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar
Scaling sampling-based motion planning to humanoid robots. ROBIO (2016)