17 citations · 69 across the 26 of their papers we have counts for
4 papers · 1 filter
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao +1
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of acc…
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
Michael Enqi Cao, Jonas Warnke, Yunhai Han +3
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that ap…
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou, Bruce Wingo, Nathan Boyd +2
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternat…
Safe Learning for Uncertainty-Aware Planning via Interval MDP Abstraction
Jesse Jiang, Ye Zhao, Samuel Coogan
We study the problem of refining satisfiability bounds for partially-known stochastic systems against planning specifications defined using syntactically co-safe Linear Temporal Lo…