19 citations · 40 across the 11 of their papers we have counts for
6 papers · 1 filter
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria for Autonomous Racing
Edward L. Zhu, Francesco Borrelli
Dynamic games can be an effective approach for modeling interactive behavior between multiple competitive agents in autonomous racing and they provide a theoretical framework for s…
Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
Haoru Xue, Edward L. Zhu, John M. Dolan +1
This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in…
A Gaussian Process Model for Opponent Prediction in Autonomous Racing
Edward L. Zhu, Finn Lukas Busch, Jake Johnson +1
In head-to-head racing, an accurate model of interactive behavior of the opposing target vehicle (TV) is required to perform tightly constrained, but highly rewarding maneuvers suc…
Collision Avoidance in Tightly-Constrained Environments without Coordination: a Hierarchical Control Approach
Xu Shen, Edward L. Zhu, Yvonne R. Stürz +1
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are pr…
Design, Simulation, and Testing of a Flexible Actuated Spine for Quadruped Robots
Andrew P. Sabelhaus, Lara Janse van Vuuren, Ankita Joshi +6
Walking quadruped robots face challenges in positioning their feet and lifting their legs during gait cycles over uneven terrain. The robot Laika is under development as a quadrupe…
Inclined Surface Locomotion Strategies for Spherical Tensegrity Robots
Lee-Huang Chen, Brian Cera, Edward L. Zhu +8
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simul…