Proposes constraint manifolds with corners as a new topological structure for mixed-constraint optimization in robotics, enabling direct unconstrained optimization on the feasible set.
A factor-graph approach for optimization problems with dynamics constraints
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
DynoJEPP introduces directed factors in factor graphs to jointly optimize estimation, prediction, and planning while preventing feedback corruption that causes unsafe behavior in dynamic environments.
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CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization
Proposes constraint manifolds with corners as a new topological structure for mixed-constraint optimization in robotics, enabling direct unconstrained optimization on the feasible set.
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DynoJEPP: Joint Estimation, Prediction and Planning in Dynamic Environments
DynoJEPP introduces directed factors in factor graphs to jointly optimize estimation, prediction, and planning while preventing feedback corruption that causes unsafe behavior in dynamic environments.