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Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots.
Autonomous driving in urban environments: approaches, lessons and challenges
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The gaits of bipedal and quadrupedal animals
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Legged robots that balance
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Discrete event models + temporal logic = supervisory controller: Automatic synthesis of locomotion controllers
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A point-mass model of gibbon locomotion
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Sequential composition of dynamically dexterous robot behaviors
Burridge, R. R., A. A. Rizzi, and D. E. Koditschek (1999) · 1999
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Templates and anchors: neuromechanical hypotheses of legged locomotion on land
Full, R. J. and D. E. Koditschek (1999) · 1999
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Discrete abstractions of hybrid systems
Alur, R., T. A. Henzinger, G. Lafferriere, and G. J. Pappas (2000) · 2000
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Applied Interval Analysis: with Examples in Parameter and State Estimation, Robust Control and Robotics
Jaulin, L. (2001) · 2001
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The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation
Kajita, S., F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa (2001) · 2001
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Manipulation gaits: Sequences of grasp control tasks
Platt, R., A. H. Fagg, and R. A. Grupen (2004) · 2004
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Non-gaited humanoid locomotion planning
Hauser, K., T. Bretl, and J.-C. Latombe (2005) · 2005
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Motion planning of multi-limbed robots subject to equilibrium constraints: The free-climbing robot problem
Bretl, T. (2006) · 2006
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Principles of model checking
Baier, C. and J.-P. Katoen (2008) · 2008
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Robustness of temporal logic specifications for continuous-time signals
Fainekos, G. E. and G. J. Pappas (2009) · 2009
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Temporal-logic-based reactive mission and motion planning
Kress-Gazit, H., G. E. Fainekos, and G. J. Pappas (2009) · 2009
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Verification and control of hybrid systems: a symbolic approach
Tabuada, P. (2009) · 2009
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Motion planning with hybrid dynamics and temporal goals
Bhatia, A., L. E. Kavraki, and M. Y. Vardi (2010) · 2010
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Robust satisfaction of temporal logic over real-valued signals
Donzé, A. and O. Maler (2010) · 2010
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Automatic deployment of distributed teams of robots from temporal logic motion specifications
Kloetzer, M. and C. Belta (2010) · 2010
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Motion planning with dynamics by a synergistic combination of layers of planning
Plaku, E., L. E. Kavraki, and M. Y. Vardi (2010) · 2010
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Multi-contact stances planning for multiple agents
Bouyarmane, K. and A. Kheddar (2011) · 2011
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Hierarchical task and motion planning in the now
Kaelbling, L. P. and T. Lozano-Pérez (2011) · 2011
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Correct, reactive, high-level robot control
Kress-Gazit, H., T. Wongpiromsarn, and U. Topcu (2011) · 2011
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Robust discrete synthesis against unspecified disturbances
Majumdar, R., E. Render, and P. Tabuada (2011) · 2011
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Tulip: a software toolbox for receding horizon temporal logic planning
Wongpiromsarn, T., U. Topcu, N. Ozay, H. Xu, and R. M. Murray (2011) · 2011
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Reactive planning and control of planar spring–mass running on rough terrain
Arslan, O. and U. Saranli (2012) · 2012
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Synthesis of reactive (1) designs
Bloem, R., B. Jobstmann, N. Piterman, A. Pnueli, and Y. Saar (2012) · 2012
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Towards formal synthesis of reactive controllers for dexterous robotic manipulation
Chinchali, S., S. C. Livingston, U. Topcu, J. W. Burdick, and R. M. Murray (2012) · 2012
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Switching in systems and control
Liberzon, D. (2012) · 2012
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Synthesis of reactive control protocols for differentially flat systems
Liu, J., U. Topcu, N. Ozay, and R. M. Murray (2012) · 2012
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On synthesizing robust discrete controllers under modeling uncertainty
Topcu, U., N. Ozay, J. Liu, and R. M. Murray (2012) · 2012
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Receding horizon temporal logic planning
Wongpiromsarn, T., U. Topcu, and R. M. Murray (2012) · 2012
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A three dimensional foot placement planner for locomotion in very rough terrains
Zhao, Y. and L. Sentis (2012) · 2012
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Synthesis of reactive switching protocols from temporal logic specifications
Liu, J., N. Ozay, U. Topcu, and R. M. Murray (2013) · 2013
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A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations
da Silva, R. R., B. Wu, J. Dai, and H. Lin (2016) · 2016
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Incremental task and motion planning: A constraint-based approach
Dantam, N. T., Z. K. Kingston, S. Chaudhuri, and L. E. Kavraki (2016) · 2016
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Synthesis of joint control and active sensing strategies under temporal logic constraints
Fu, J. and U. Topcu (2016) · 2016
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3d dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Hereid, A., E. A. Cousineau, C. M. Hubicki, and A. D. Ames (2016) · 2016
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Stabilizing series-elastic point-foot bipeds using whole-body operational space control
Kim, D., Y. Zhao, G. Thomas, B. R. Fernandez, and L. Sentis (2016) · 2016
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Sreenath, K., C. R. Hill Jr, and V. Kumar (2013) · 2013
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Model preview control in multi-contact motion-application to a humanoid robot
Audren, H., J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, and E. Yoshida (2014) · 2014
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Probably approximately correct mdp learning and control with temporal logic constraints
Fu, J. and U. Topcu (2014) · 2014
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Fast interpolation and time-optimization with contact
Hauser, K. (2014) · 2014
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Abstraction, discretization, and robustness in temporal logic control of dynamical systems
Liu, J. and N. Ozay (2014) · 2014
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Incremental synthesis of switching protocols via abstraction refinement
Nilsson, P. and N. Ozay (2014) · 2014
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Performance analysis and feedback control of atrias, a three-dimensional bipedal robot
Ramezani, A., J. W. Hurst, K. A. Hamed, and J. Grizzle (2014) · 2014
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Kuindersma, S., R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake (2016) · 2016
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Finite abstractions with robustness margins for temporal logic-based control synthesis
Liu, J. and N. Ozay (2016) · 2016
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Reactive high-level behavior synthesis for an atlas humanoid robot
Maniatopoulos, S., P. Schillinger, V. Pong, D. C. Conner, and H. Kress-Gazit (2016) · 2016
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Optimization and stabilization of trajectories for constrained dynamical systems
Posa, M., S. Kuindersma, and R. Tedrake (2016) · 2016
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Safe control under uncertainty with probabilistic signal temporal logic
Sadigh, D. and A. Kapoor (2016) · 2016
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Robust phase-space planning for agile legged locomotion over various terrain topologies
Zhao, Y., B. R. Fernandez, and L. Sentis (2016) · 2016
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High-level planner synthesis for whole-body locomotion in unstructured environments
Zhao, Y., U. Topcu, and L. Sentis (2016) · 2016
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Formal methods for discrete-time dynamical systems
Belta, C., B. Yordanov, and E. A. Gol (2017) · 2017
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Reactive synthesis for finite tasks under resource constraints
He, K., M. Lahijanian, L. E. Kavraki, and M. Y. Vardi (2017) · 2017
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Robust abstractions for control synthesis: completeness via robustness for linear-time properties
Liu, J. (2017) · 2017
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Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework
Luo, J., Y. Zhao, D. Kim, O. Khatib, and L. Sentis (2017) · 2017
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Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model
Zhao, Y., B. R. Fernandez, and L. Sentis (2017) · 2017
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Reactive mission and motion planning with deadlock resolution avoiding dynamic obstacles
Alonso-Mora, J., J. A. DeCastro, V. Raman, D. Rus, and H. Kress-Gazit (2018) · 2018
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Darpa subterranean challenge, https://www.darpa.mil/program/darpa-subterranean-challenge
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Differentiable physics and stable modes for tool-use and manipulation planning
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Correctness guarantees for the composition of lane keeping and adaptive cruise control
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