105 citations · 106 across the 7 of their papers we have counts for
4 papers · 1 filter
Generalized Benders Decomposition with Continual Learning for Hybrid Model Predictive Control in Dynamic Environment
Xuan Lin
Hybrid model predictive control (MPC) with both continuous and discrete variables is widely applicable to robotic control tasks, especially those involving contact with the environ…
Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation
Xuan Lin, Gabriel Fernandez, Yeting Liu +3
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg…
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Yusuke Tanaka, Yuki Shirai, Xuan Lin +5
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-de…
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion
Xuan Lin, Feng Xu, Alexander Schperberg +1
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumpt…