9 citations · 23 across the 9 of their papers we have counts for
9 papers
Robust Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator
Lihao Xu, Xiaogang Xiong, Bai Yang +1
High-dimensional robot dynamic trajectory planning poses many challenges for traditional planning algorithms. Existing planning methods suffer from issues such as long computation…
Dynamic Object Tracking for Quadruped Manipulator with Spherical Image-Based Approach
Tianlin Zhang, Sikai Guo, Xiaogang Xiong +3
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB c…
Safe Adaptive Multi-Agent Coverage Control
Yang Bai, Yujie Wang, Xiaogang Xiong +1
This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is ap…
Proxy-based Super Twisting Control Algorithm for Aerial Manipulators
Zhengyu Hua, Bowen Xu, Li Xing +3
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, i…
PC-SNN: Predictive Coding-based Local Hebbian Plasticity Learning in Spiking Neural Networks
Haidong Wang, Xiaogang Xiong, Mengting Lan +5
Spiking Neural Networks (SNNs), regarded as the third generation of neural networks, emulate the brain's information processing with unparalleled biological plausibility compared t…
Toward UL-DL Rate Balancing: Joint Resource Allocation and Hybrid-Mode Multiple Access for UAV-BS Assisted Communication Systems
Haiyong Zeng, Xu Zhu, Yufei Jiang +2
In this paper, we investigate unmanned aerial vehicle (UAV) assisted communication systems that require quasi-balanced data rates in uplink (UL) and downlink (DL), as well as users…
Chattering-Free Implementation of Continuous Terminal Algorithm with Implicit Euler Method
Xiaogang Xiong, Wei Chen, Guohua Jiao +2
This paper proposes an efficient implementation for a continuous terminal algorithm (CTA). Although CTA is a continuous version of the famous twisting algorithm (TA), the conventio…
DS-VIO: Robust and Efficient Stereo Visual Inertial Odometry based on Dual Stage EKF
Xiaogang Xiong, Wenqing Chen, Zhichao Liu +1
This paper presents a dual stage EKF (Extended Kalman Filter)-based algorithm for the real-time and robust stereo VIO (visual inertial odometry). The first stage of this EKF-based…
Adaptive Gains to Super-Twisting Technique for Sliding Mode Design
Xiaogang Xiong, Shyam Kamal, Shanhai Jin
This paper studies the super-twisting algorithm (STA) for adaptive sliding mode design. The proposed method tunes the two gains of STA on line simultaneously such that a second ord…