Cite Quad-SDK¶

If you use Quad-SDK in academic work, please cite the appropriate paper(s) below. Each block has a copy button — click the icon in the corner of the code block.

The framework¶

Cite this if you use Quad-SDK in any capacity:

@inproceedings{abs:norby-quad-sdk-2022,
  author    = {Norby, Joseph and Yang, Yanhao and Tajbakhsh, Ardalan and
               Ren, Jiming and Yim, Justin K. and Stutt, Alexandra and
               Yu, Qishun and Flowers, Nikolai and Johnson, Aaron M.},
  title     = {Quad-{SDK}: Full Stack Software Framework for Agile
               Quadrupedal Locomotion},
  booktitle = {ICRA Workshop on Legged Robots},
  year      = {2022}
}

Open the paper

The Global Body Planner (GBP-L)¶

Cite this if you use the Global Body Planner:

@inproceedings{Norby2020,
  title     = {Fast global motion planning for dynamic legged robots},
  author    = {Norby, Joseph and Johnson, Aaron M},
  booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots
               and Systems (IROS)},
  pages     = {3829--3836},
  year      = {2020},
  organization = {IEEE}
}

Open the paper

Conflict Based Search (multi-robot)¶

Cite this if you use the Conflict Based Search package for multi-robot coordination:

@article{Sharon2015,
  title     = {Conflict-based search for optimal multi-agent pathfinding},
  author    = {Sharon, Guni and Stern, Roni and Felner, Ariel and
               Sturtevant, Nathan R},
  journal   = {Artificial Intelligence},
  volume    = {219},
  pages     = {40--66},
  year      = {2015},
  publisher = {Elsevier}
}

The Leg Disentanglement Controller¶

Cite this if you use the Leg Disentanglement Controller (Underbrush):

@inproceedings{Yim2023Underbrush,
  author    = {Yim, Justin K. and Ren, Jiming and Ologan, David and
               Gonzalez, S. G. and Johnson, Aaron M.},
  title     = {Proprioception and Reaction for Walking Among Entanglements},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots
               and Systems (IROS)},
  year      = {2023}
}

Open the paper

Plain-text format¶

If you need a non-BibTeX citation:

Norby, J., Yang, Y., Tajbakhsh, A., Ren, J., Yim, J. K., Stutt, A., Yu, Q., Flowers, N., & Johnson, A. M. (2022). Quad-SDK: Full Stack Software Framework for Agile Quadrupedal Locomotion. ICRA Workshop on Legged Robots.

Acknowledging this codebase in software¶

If you fork or build on Quad-SDK, a short acknowledgement in your README is appreciated:

This work builds on Quad-SDK, an open-source framework for quadrupedal locomotion developed at the Robomechanics Lab, Carnegie Mellon University.

Papers using Quad-SDK¶

If your paper uses Quad-SDK and you'd like it listed here, open a PR adding it to this section — we'd love to surface community work.