Publications

See google scholar for the most up-to-date list.

2023

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    Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
    Vince Kurtz, Alejandro Castro, Aykut Özgün Önol, and 1 more author
    arXiv preprint, 2023
    PDF Code Website Video
  2. atlas_cover_pic.png
    Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
    Vince Kurtz, and Hai Lin
    IEEE Transactions on Robotics (T-RO), 2023
    PDF Code Video
  3. Dissertation
    Scalable Autonomy for High-Degree-of-Freedom Robots
    Vince Kurtz
    University of Notre Dame, 2023
    PDF Video

2022

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    Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
    Vince Kurtz, and Hai Lin
    IEEE Control Systems Letters (L-CSS), 2022
    PDF Code
  2. contact_surface_composite.png
    Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
    Vince Kurtz, and Hai Lin
    International Conference on Intelligent Robots and Systems (IROS), 2022
    PDF Code Video
  3. standing_with_boots.png
    Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
    Vince Kurtz, He Li, Patrick M. Wensing, and 1 more author
    International Conference on Robotics and Automation (ICRA), 2022
    PDF Video
  4. triple_pendulum.png
    Learning to Control Robot Hopping over Uneven Terrain
    Michael Lemmon, Patrick M. Wensing, Vince Kurtz, and 1 more author
    American Control Conference (ACC), 2022
    PDF
  5. robust_as_trajectory.png
    Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
    Zihao Song, Vince Kurtz, Shirantha Welikala, and 2 more authors
    American Control Conference (ACC), 2022
    PDF

2021

  1. large_scale_gridworld_example.png
    A More Scalable Mixed-Integer Encoding for Metric Temporal Logic
    Vince Kurtz, and Hai Lin
    IEEE Control Systems Letters (L-CSS), 2021
    PDF
  2. rtl.png
    Automatic Trajectory Synthesis for Real-Time Temporal Logic
    Rafael Rodrigues Silva, Vince Kurtz, and Hai Lin
    IEEE Transactions on Automatic Control (TAC), 2021
    PDF
  3. hybrid_automaton.png
    Symbolic Control of Hybrid Systems from Signal Temporal Logic Specifications
    Rafael Rodrigues Silva, Vince Kurtz, and Hai Lin
    Guidance, Navigation and Control, 2021
    PDF
  4. passivity_cbf.gif
    Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
    Vince Kurtz, Patrick M. Wensing, and Hai Lin
    Conference on Decision and Control (CDC), 2021
    PDF Code

2020

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    Approximate Simulation for Template-Based Whole-Body Control
    Vince Kurtz, Patrick M. Wensing, and Hai Lin
    IEEE Robotics and Automation Letters (RA-L), 2020
    PDF Code
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    Trajectory Optimization for High-Dimensional Nonlinear Systems Under STL Specifications
    Vince Kurtz, and Hai Lin
    IEEE Control Systems Letters (L-CSS), 2020
    PDF
  3. medium_smoothing.png
    A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
    Yann Gilpin, Vince Kurtz, and Hai Lin
    IEEE Control Systems Letters (L-CSS), 2020
    PDF Code
  4. maze_impulse_corrected.png
    Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances
    Vince Kurtz, Patrick M. Wensing, and Hai Lin
    American Control Conference (ACC), 2020
    PDF

2019

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    Active Perception and Control From Temporal Logic Specifications
    Rafael Rodrigues Silva, Vince Kurtz, and Hai Lin
    IEEE Control Systems Letters (L-CSS), 2019
    PDF
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    Formal Connections between Template and Anchor Models via Approximate Simulation
    Vince Kurtz, Rafael Rodrigues Silva, Patrick M. Wensing, and 1 more author
    International Conference on Humanoid Robots (Humanoids), 2019
    Best interactive paper award
    PDF Poster
  3. multiagent_demo.png
    Toward Verifiable Real-Time Obstacle Motion Prediction for Dynamic Collision Avoidance
    Vince Kurtz, and Hai Lin
    American Control Conference (ACC), 2019
    PDF Code

2017

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    Learning Robust Failure Response for Autonomous Vision-Based Flight
    Dhruv Mauria Saxena, Vince Kurtz, and Martial Hebert
    International Conference on Robotics and Automation (ICRA), 2017
    PDF