| 2025 | IROS | Adaptive Manipulation using Behavior Trees. | Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis |
| 2024 | CoRL | Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. | Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner |
| 2024 | ICRA | R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. | Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis |
| 2024 | IROS | Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics. | Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis |
| 2022 | ICRA | Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. | Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner |
| 2021 | ICRA | Sparsity-Inducing Optimal Control via Differential Dynamic Programming. | Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar |
| 2021 | ICRA | Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. | Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar |
| 2021 | IROS | Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. | Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis |
| 2021 | IROS | Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. | Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti |
| 2021 | ICRA | A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. | Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar |
| 2020 | ICRA | Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. | Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard |
| 2020 | IROS | Modeling and Control of a Hybrid Wheeled Jumping Robot. | Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar |
| 2020 | IROS | Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. | Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar |
| 2019 | IROS | Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. | Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar |
| 2018 | IROS | Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. | Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar |