research
∙
07/17/2023
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions
In this paper, we propose a safety-critical controller based on time-var...
share
research
∙
06/23/2023
Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions
In this paper, we focus on non-conservative obstacle avoidance between r...
research
∙
05/25/2023
Empowering Practical Root Cause Analysis by Large Language Models for Cloud Incidents
Ensuring the reliability and availability of cloud services necessitates...
research
∙
04/17/2023
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
Obstacle avoidance for multi-robot navigation with polytopic shapes is c...
research
∙
02/28/2023
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments
This work introduces a novel control strategy called Iterative Linear Qu...
research
∙
12/29/2022
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
This paper presents a safety-critical locomotion control framework for q...
research
∙
12/13/2022
Distantly-Supervised Named Entity Recognition with Adaptive Teacher Learning and Fine-grained Student Ensemble
Distantly-Supervised Named Entity Recognition (DS-NER) effectively allev...
research
∙
10/09/2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Safety is one of the fundamental challenges in control theory. Recently,...
research
∙
06/29/2022
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
This paper tackles the problem of robots collaboratively towing a load w...
research
∙
05/11/2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Bridging model-based safety and model-free reinforcement learning (RL) f...
research
∙
03/04/2022
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
In this paper, we propose a multi-domain control parameter learning fram...
research
∙
12/13/2021
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions
This paper presents a novel planning and control strategy for competing ...
research
∙
12/01/2021
Mixed displacement-pressure-phase field framework for finite strain fracture of nearly incompressible hyperelastic materials
The favored phase field method (PFM) has encountered challenges in the f...
research
∙
11/13/2021
AttacKG: Constructing Technique Knowledge Graph from Cyber Threat Intelligence Reports
Cyber attacks are becoming more sophisticated and diverse, making detect...
research
∙
09/25/2021
A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes
Obstacle avoidance between polytopes is a challenging topic for optimal ...
research
∙
08/09/2021
Model-free online motion adaptation for energy efficient flights of multicopters
Limited flight distance and time is a common problem for multicopters. W...
research
∙
07/18/2021
A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Developing controllers for obstacle avoidance between polytopes is a cha...
research
∙
07/01/2021
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Quadrupeds are strong candidates for navigating challenging environments...
research
∙
05/21/2021
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Safety is one of the fundamental problems in robotics. Recently, one-ste...
research
∙
03/26/2021
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
An autonomous robot that is able to physically guide humans through narr...
research
∙
08/01/2020
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
The feet of robots are typically used to design locomotion strategies, s...
research
∙
07/22/2020
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
The optimal performance of robotic systems is usually achieved near the ...
research
∙
04/13/2020