18 citations · 46 across the 7 of their papers we have counts for
7 papers
Unidirectional-Road-Network-Based Global Path Planning for Cleaning Robots in Semi-Structured Environments
Yong Li, Hui Cheng
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free spa…
Safe Learning-Based Feedback Linearization Tracking Control for Nonlinear System with Event-Triggered Model Update
Zhixuan Wu, Rui Yang, Lei Zheng +1
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safe…
Decentralized Global Connectivity Maintenance for Multi-Robot Navigation: A Reinforcement Learning Approach
Minghao Li, Yingrui Jie, Yang Kong +1
The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown e…
Safe Learning-based Gradient-free Model Predictive Control Based on Cross-entropy Method
Lei Zheng, Rui Yang, Zhixuan Wu +2
In this paper, a safe and learning-based control framework for model predictive control (MPC) is proposed to optimize nonlinear systems with a non-differentiable objective function…
Learning-Based Safety-Stability-Driven Control for Safety-Critical Systems under Model Uncertainties
Lei Zheng, Jiesen Pan, Rui Yang +2
Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-cr…
Safe Learning-based Tracking Control for Quadrotors under Wind Disturbances
Lei Zheng, Rui Yang, Jiesen Pan +1
Enforcing safety on precise trajectory tracking is critical for aerial robotics subject to wind disturbances. In this paper, we present a learning-based safety-preserving cascaded…
Cluster Synchronization of Coupled Systems with Nonidentical Linear Dynamics
Zhongchang Liu, Wing Shing Wong, Hui Cheng
This paper considers the cluster synchronization problem of generic linear dynamical systems whose system models are distinct in different clusters. These nonidentical linear model…