Publications #

2016#

Efficient resolution of potentially conflicting linear constraints in robotics

authorsbibtex

not published

Geometric and numerical aspects of redundancy

authorsbibtex

@incollection {Wieber.2016,
 author     = {Wieber, Pierre-Brice and Escande, Adrien and Dimitrov, Dimitar and Sherikov, Alexander},
 title      = {Geometric and numerical aspects of redundancy},
 editor     = {J. P. Laumond et al.},
 booktitle  = {Geometric and Numerical Foundations of Movements},
 publisher  = {Springer-Verlag},
 pages      = {67--85},
 year       = 2016}

Safe navigation strategies for a biped robot walking in a crowd

preprint video

authorsbibtex

@inproceedings{Bohorquez.2016,
 author     = {Bohorquez, Nestor and Sherikov, Alexander and Dimitrov, Dimitar and Wieber, Pierre-Brice},
 title      = {Safe navigation strategies for a biped robot walking in a crowd},
 booktitle  = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
 pages      = {379--386},
 year       = 2016}

A newton method with always feasible iterates for nonlinear model predictive control of walking in a multi-contact situation

preprint video

authorsbibtex

@inproceedings{Serra.2016,
 author     = {Serra, Diana and Brasseur, Camille and Sherikov, Alexander and Dimitrov, Dimitar and Wieber, Pierre-Brice},
 title      = {A newton method with always feasible iterates for nonlinear model predictive control of walking in a multi-contact situation},
 booktitle  = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
 pages      = {932--937},
 year       = 2016}

A hierarchical approach to minimum-time control of industrial robots

preprint

authorsbibtex

@inproceedings{Holmsi.2016,
 author     = {Al~Homsi, Saed and Sherikov, Alexander and Dimitrov, Dimitar and Wieber, Pierre-Brice},
 title      = {A hierarchical approach to minimum-time control of industrial robots},
 booktitle  = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages      = {2368--2374},
 year       = 2016}

2015#

Autonomous transport vehicles: where we are and what is missing

paper

authorsbibtex

@article      {Andreasson.2015,
 author     = {Andreasson, Henrik and Bouguerra, Abdelbaki and Cirillo, Marcello and Dimitrov, Dimitar and Driankov, Dimiter and Karlsson, Lars and et al.},
 title      = {Autonomous transport vehicles: where we are and what is missing},
 journal    = {IEEE Robotics and Automation Magazine (IEEE-RAM)},
 volume     = {22},
 number     = {1},
 pages      = {64--75},
 year       = 2015}

Model predictive motion control based on generalized dynamical movement primitives

preprint

authorsbibtex

@article      {Krug.2015,
 author     = {Krug, Robert and Dimitrov, Dimitar},
 title      = {Model predictive motion control based on generalized dynamical movement primitives},
 journal    = {Journal of Intelligent \& Robotic Systems},
 volume     = {77},
 number     = {1},
 pages      = {17--35},
 year       = 2015}

Balancing a humanoid robot with a prioritized contact force distribution

preprint video

authorsbibtex

@inproceedings{Sherikov.2015,
 author     = {Sherikov, Alexander and Dimitrov, Dimitar and Wieber, Pierre-Brice},
 title      = {Balancing a humanoid robot with a prioritized contact force distribution},
 booktitle  = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
 pages      = {223--228},
 year       = 2015}

A robust linear MPC approach to online generation of 3D biped walking motion

preprint video

authorsbibtex

Camille Brasseur
Alexander Sherikov
Cyrille Collette
Dimitar Dimitrov
Pierre-Brice Wieber

@inproceedings{Brasseur.2015,
 author     = {Brasseur, Camille and Sherikov, Alexander and Collette, Cyrille and Dimitrov, Dimitar and Wieber, Pierre-Brice},
 title      = {A robust linear MPC approach to online generation of 3D biped walking motion},
 booktitle  = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
 pages      = {595--601},
 year       = 2015}

2014#

Efficiently combining task and motion planning using geometric constraints

preprint

authorsbibtex

@article      {Lagriffoul.2014,
 author     = {Lagriffoul, Fabien and Dimitrov, Dimitar and Bidot, Julien and Saffiotti, Alessandro and Karlsson, Lars},
 title      = {Efficiently combining task and motion planning using geometric constraints},
 journal    = {The International Journal of Robotics Research},
 volume     = {33},
 number     = {14},
 pages      = {1726--1747},
 year       = 2014}

Whole body motion controller with long-term balance constraints

preprint video

authorsbibtex

@inproceedings{Sherikov.2014,
 author     = {Sherikov, Alexander and Dimitrov, Dimitar and Wieber, Pierre-Brice},
 title      = {Whole body motion controller with long-term balance constraints},
 booktitle  = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
 pages      = {444--450},
 year       = 2014}

Multi-objective control of robots

preprint

authorsbibtex

@article      {Dimitrov.2014,
 author     = {Dimitrov, Dimitar and Wieber, Pierre-Brice and Escande, Adrien},
 title      = {Multi-objective control of robots},
 journal    = {Journal of the Robotics Society of Japan},
 volume     = {32},
 number     = {6},
 pages      = {512--518},
 year       = 2014}

2013#

Representing movement primitives as implicit dynamical systems learned from multiple demonstrations

preprint

authorsbibtex

@inproceedings{Krug.2013,
 author     = {Krug, Robert and Dimitrov, Dimitar},
 title      = {Representing movement primitives as implicit dynamical systems learned from multiple demonstrations},
 booktitle  = {International Conference on Advanced Robotics (ICAR)},
 pages      = {1--8},
 year       = 2013}

2012#

Constraint propagation on interval bounds for dealing with geometric backtracking

preprint

authorsbibtex

@inproceedings{Lagriffoul.2012,
 author     = {Lagriffoul, Fabien and Dimitrov, Dimitar and Saffiotti, Alessandro and Karlsson, Lars},
 title      = {Constraint propagation on interval bounds for dealing with geometric backtracking},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {957--964},
 year       = 2012}

On mission-dependent coordination of multiple vehicles under spatial and temporal constraints

preprint

authorsbibtex

@inproceedings{Pecora.2012,
 author     = {Pecora, Federico and Cirillo, Marcello and Dimitrov, Dimitar},
 title      = {On mission-dependent coordination of multiple vehicles under spatial and temporal constraints},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {5262--5269},
 year       = 2012}

Independent contact regions based on a patch contact model

preprint

authorsbibtex

@inproceedings{Charusta.2012b,
 author     = {Charusta, Krzysztof and Krug, Robert and Dimitrov, Dimitar and Iliev, Boyko},
 title      = {Independent contact regions based on a patch contact model},
 booktitle  = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages      = {4162--4169},
 year       = 2012}

Generation of independent contact regions on objects reconstructed from noisy real-world range data

preprint

authorsbibtex

@inproceedings{Charusta.2012a,
 author     = {Charusta, Krzysztof and Krug, Robert and Stoyanov, Todor and Dimitrov, Dimitar and Iliev, Boyko},
 title      = {Generation of independent contact regions on objects reconstructed from noisy real-world range data},
 booktitle  = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages      = {1338--1344},
 year       = 2012}

Mapping between different kinematic structures without absolute positioning during operation

paper

authorsbibtex

@article      {Berglund.2012,
 author     = {Berglund, Erik and Iliev, Boyko and Palm, Rainer and Krug, Robert and Charusta, Krzysztof and Dimitrov, Dimitar},
 title      = {Mapping between different kinematic structures without absolute positioning during operation},
 journal    = {Electronics Letters},
 volume     = {48},
 number     = {18},
 pages      = {1110--1112},
 year       = 2012}

2011#

A sparse model predictive control formulation for walking motion generation

preprint presentation errata implementation

authorsbibtex

@inproceedings{Dimitrov.2011b,
 author     = {Dimitrov, Dimitar and Sherikov, Alexander and Wieber, Pierre-Brice},
 title      = {A sparse model predictive control formulation for walking motion generation},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {2292--2299},
 year       = 2011}

Prioritized independent contact regions for form closure grasps

preprint

authorsbibtex

@inproceedings{Krug.2011,
 author     = {Krug, Robert and Dimitrov, Dimitar and Charusta, Krzysztof and Iliev, Boyko},
 title      = {Prioritized independent contact regions for form closure grasps},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {1797--1803},
 year       = 2011}

Walking motion generation with online foot position adaptation based on $\ell_1$ - and $\ell_\infty$ -norm penalty formulations

preprint presentation

authorsbibtex

@inproceedings{Dimitrov.2011a,
 author     = {Dimitrov, Dimitar and Paolillo, Antonio and Wieber, Pierre-Brice},
 title      = {Walking motion generation with online foot position adaptation based on $\ell_1$- and $\ell_\infty$-norm penalty formulations},
 booktitle  = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages      = {3523--3529},
 year       = 2011}

2010#

Online walking motion generation with automatic foot step placement

preprint

authorsbibtex

@article      {Herdt.2010,
 author     = {Herdt, Andrei and Diedam, Holger and Wieber, Pierre-Brice and Dimitrov, Dimitar and Mombaur, Katja and Diehl, Moritz},
 title      = {Online walking motion generation with automatic foot step placement},
 journal    = {Advanced Robotics},
 volume     = {24},
 number     = {5--6},
 pages      = {719--737},
 year       = 2010}

On the efficient computation of independent contact regions for force closure grasps

preprint

authorsbibtex

@inproceedings{Krug.2010,
 author     = {Krug, Robert and Dimitrov, Dimitar and Charusta, Krzysztof and Iliev, Boyko},
 title      = {On the efficient computation of independent contact regions for force closure grasps},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {586--591},
 year       = 2010}

An optimized linear model predictive control solver

paper

authorsbibtex

Dimitar Dimitrov
Pierre-Brice Wieber
Olivier Stasse,
Hans Joachim Ferreau
Holger Diedam

@incollection {Dimitrov.2010,
 author     = {Dimitrov, Dimitar and Wieber, Pierre-Brice and Stasse, Olivier and Ferreau, Hans Joachim and Diedam, Holger},
 title      = {An optimized linear model predictive control solver},
 editor     = {Diehl, Moritz and Glineur, Fran\c{c}ois and Jarlebring, Elias and Michiels, Wim},
 booktitle  = {Recent Advances in Optimization and its Applications in Engineering},
 publisher  = {Springer},
 pages      = {309--318},
 year       = 2010}

2009#

An optimized linear model predictive control solver for online walking motion generation

paper

authorsbibtex

Dimitar Dimitrov
Pierre-Brice Wieber
Olivier Stasse,
Hans Joachim Ferreau
Holger Diedam

@inproceedings{Dimitrov.2009,
 author     = {Dimitrov, Dimitar and Wieber, Pierre-Brice and Stasse, Olivier and Ferreau, Hans Joachim and Diedam, Holger},
 title      = {An optimized linear model predictive control solver for online walking motion generation},
 booktitle  = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages      = {1171--1176},
 year       = 2009}

Extraction of grasp related features by human dual-hand object exploration

paper

authorsbibtex

@inproceedings{Charusta.2009,
 author     = {Charusta, Krzysztof and Dimitrov, Dimitar and Lilienthal, Achim J and Iliev, Boyko},
 title      = {Extraction of grasp related features by human dual-hand object exploration},
 booktitle  = {International Conference on Advanced Robotics (ICAR)},
 pages      = {122--127},
 year       = 2009}

2008#

Online walking gait generation with adaptive foot positioning through linear model predictive control

paper

authorsbibtex

@inproceedings{Diedam.2008,
 author     = {Diedam, Holger and Dimitrov, Dimitar and Wieber, Pierre-Brice and Mombaur, Katja and Diehl, Moritz},
 title      = {Online walking gait generation with adaptive foot positioning through linear model predictive control},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {1121--1126},
 year       = 2008}

On the implementation of model predictive control for on-line walking pattern generation

paper

authorsbibtex

@inproceedings{Dimitrov.2008,
 author     = {Dimitrov, Dimitar and Wieber, Pierre-Brice and Ferreau, Hans Joachim and Diehl, Moritz},
 title      = {On the implementation of model predictive control for on-line walking pattern generation},
 booktitle  = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages      = {2685--2690},
 year       = 2008}

2006#

On the capture of tumbling satellite by a space robot

paper

authorsbibtex

Kazuya Yoshida
Dimitar Dimitrov
Hiroki Nakanishi

@inproceedings{Yoshida.2006,
 author     = {Yoshida, Kazuya and Dimitrov, Dimitar and Nakanishi, Hiroki},
 title      = {On the capture of tumbling satellite by a space robot},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {4127--4132},
 year       = 2006}

Utilization of holonomic distribution control for reactionless path planning

paper

authorsbibtex

@inproceedings{Dimitrov.2006,
 author     = {Dimitrov, Dimitar and Yoshida, Kazuya},
 title      = {Utilization of holonomic distribution control for reactionless path planning},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {3387--3392},
 year       = 2006}

Dynamics and control of space manipulators during a satellite capturing operation

thesis

authorsbibtex

Dimitar Dimitrov
- Tohoku University (Japan), Space Robotics Laboratory

@phdthesis    {Dimitrov.thesis.2006,
 author     = {Dimitrov, Dimitar},
 title      = {Dynamics and control of space manipulators during a satellite capturing operation},
 school     = {Tohoku University},
 year       = 2006}

2005#

Utilization of distributed momentum control for planning approaching trajectories of a space manipulator to a target satellite

preprint

authorsbibtex

@inproceedings{Dimitrov.2005,
 author     = {Dimitrov, Dimitar and Yoshida, Kazuya},
 title      = {Utilization of distributed momentum control for planning approaching trajectories of a space manipulator to a target satellite},
 booktitle  = {International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},
 year       = 2005}

2004#

Utilization of the bias momentum approach for capturing a tumbling satellite

preprint

authorsbibtex

@inproceedings{Dimitrov.2004b,
 author     = {Dimitrov, Dimitar and Yoshida, Kazuya},
 title      = {Utilization of the bias momentum approach for capturing a tumbling satellite},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {3333--3338},
 year       = 2004}

Momentum distribution in a space manipulator for facilitating the post-impact control

preprint

authorsbibtex

@inproceedings{Dimitrov.2004a,
 author     = {Dimitrov, Dimitar and Yoshida, Kazuya},
 title      = {Momentum distribution in a space manipulator for facilitating the post-impact control},
 booktitle  = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
 pages      = {3345--3350},
 year       = 2004}

Publications#

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2005#

2004#

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