103 citations · 847 across the 60 of their papers we have counts for
61 papers
Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance
Zhiyi Chen, Shuli Lv, Chen Min +3
Autonomous mobile robots require timeefficient planning and safety-critical dynamic obstacle avoidance under constrained onboard computation. While Iterative Learning Planning (ILP…
An Open Panoramic Aerial Robot: Airframe-Integrated Multi-Fisheye Sensing, Onboard ERP Formation, and Field Evaluation
Dun Dai, Ze Lu, Cheng He +2
We present an open panoramic aerial robot with four synchronized fisheye cameras integrated into a carbon-fiber airframe and an onboard NVIDIA Jetson Orin NX. The robot outputs cal…
VIP: Variation-based Iterative-learning Planning for Robotic Navigation
Shuli Lv, Pengda Mao, Chen Min +4
Over the past decade, autonomous robotic systems have been increasingly deployed in applications such as surveying, search and rescue, and last-mile delivery. These applications re…
Stabilization Learning: A Paradigm Transition Bridging Control Theory and Machine Learning
Quan Quan
Stabilization learning is an interdisciplinary paradigm that bridges control theory and machine learning. Its core idea is to enable systems to adjust their policies under perturba…
Energy-Optimal Spatial Iterative Learning within a Virtual Tube
Chen Min, Shuli Lv, Pengda Mao +3
Due to the limited endurance of embedded energy sources such as lithium-polymer (LiPo) batteries, the flight duration and operational range of unmanned aerial vehicles (UAVs) are s…
Learning to Adapt: Reptile-D-Learning for Robust and Efficient Control Under Parametric Uncertainty
Haipeng Cao, Zhaolong Shen, Quan Quan
Learning-based Lyapunov Control (LLC) provides formal stability guarantees for nonlinear systems, but its validity relies heavily on accurate system models. Parameter variations an…
Planar-Sector LOS Guidance for Interception of Agile Targets with Lifting-Wing Quadcopters
Linkai Liu, Kun Yang, Han Zou +4
Autonomous visual interception of agile aerial targets is challenging due to unpredictable target motion, limited sensing, and the strong coupling between target visibility and int…
L-Learning : A Lyapunov-Based Approach Leveraging Lagrangian Mechanics for Efficient and Stable Robot Tracking
Quan Quan, Hao Li
This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory trackin…
Virtual-Tube-Based Cooperative Transport Control for Multi-UAV Systems in Constrained Environments
Runxiao Liu, Pengda Mao, Xiangli Le +3
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environme…
RflyUT-Sim: A Simulation Platform for Development and Testing of Complex Low-Altitude Traffic Control
Zonghan Li, Tianwen Tao, Rao Fu +3
Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV…
MSACL: Multi-Step Actor-Critic Learning with Lyapunov Certificates for Exponentially Stabilizing Control
Yongwei Zhang, Yuanzhe Xing, Quanyi Liang +2
For stabilizing control tasks, model-free reinforcement learning (RL) approaches face numerous challenges, particularly regarding the issues of effectiveness and efficiency in comp…
Self-Organizing Aerial Swarm Robotics for Resilient Load Transportation : A Table-Mechanics-Inspired Approach
Quan Quan, Jiwen Xu, Runxiao Liu +3
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via ro…
An Efficient Real-Time Planning Method for Swarm Robotics Based on an Optimal Virtual Tube
Pengda Mao, Shuli Lv, Chen Min +2
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve…
Correspondence-Free Pose Estimation with Patterns: A Unified Approach for Multi-Dimensional Vision
Quan Quan, Dun Dai
6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often…
Navigating Robot Swarm Through a Virtual Tube with Flow-Adaptive Distribution Control
Yongwei Zhang, Shuli Lv, Kairong Liu +3
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction…
A Degree of Flowability for Virtual Tubes
Quan Quan, Shuhan Huang, Kai-Yuan Cai
With the rapid development of robotics swarm technology, there are more tasks that require the swarm to pass through complicated environments safely and efficiently. Virtual tube t…
State-Compensation-Linearization-Based Stability Margin Analysis for a Class of Nonlinear Systems: A Data-Driven Method
Jinrui Ren, Quan Quan
The classical stability margin analysis based on the linearized model is widely used in practice even in nonlinear systems. Although linear analysis techniques are relatively stand…
State Compensation Linearization and Control
Quan Quan, Jinrui Ren
The linearization method builds a bridge from mature methods for linear systems to nonlinear systems and has been widely used in various areas. There are currently two main lineari…
High-Speed Interception Multicopter Control by Image-based Visual Servoing
Kun Yang, Chenggang Bai, Zhikun She +1
In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interf…
Tube RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments
Pengda Mao, Shuli Lv, Quan Quan
Recently, the concept of homotopic trajectory planning has emerged as a novel solution to navigation in large-scale obstacle environments for swarm robotics, offering a wide rangin…
A Survey on Passing-through Control of Multi-Robot Systems in Cluttered Environments
Yan Gao, Chenggang Bai, Quan Quan
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies…
RflyMAD: A Dataset for Multicopter Fault Detection and Health Assessment
Xiangli Le, Bo Jin, Gen Cui +2
This paper presents an open-source dataset RflyMAD, a Multicopter Abnomal Dataset developed by Reliable Flight Control (Rfly) Group aiming to promote the development of research fi…
Speed and Density Planning for a Speed-Constrained Robot Swarm Through a Virtual Tube
Wenqi Song, Yan Gao, Quan Quan
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous wor…
Autonomous Drone Racing: Time-Optimal Spatial Iterative Learning Control within a Virtual Tube
Shuli Lv, Yan Gao, Jiaxing Che +1
It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue…