35 citations · 141 across the 15 of their papers we have counts for
16 papers
Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach
Wenxing Liu, Hanlin Niu, Wei Pan +2
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow conver…
On the Necessity and Sufficiency of Discrete-Time O'Shea-Zames-Falb Multipliers
Lanlan Su, Peter Seiler, Joaquin Carrasco +1
This paper considers the robust stability of a discrete-time Lurye system consisting of the feedback interconnection between a linear system and a bounded and monotone nonlinearity…
Phase limitations of multipliers at harmonics
William Paul Heath, Joaquin Carrasco, Jingfan Zhang
We present a phase condition under which there is no suitable multiplier for a given continuous-time plant. The condition can be derived from either the duality approach or from th…
Accelerated Sim-to-Real Deep Reinforcement Learning: Learning Collision Avoidance from Human Player
Hanlin Niu, Ze Ji, Farshad Arvin +3
This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unkno…
3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot
Hanlin Niu, Ze Ji, Zihang Zhu +2
This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera. The main steps include camera intrinsic…
Design, Integration and Sea Trials of 3D Printed Unmanned Aerial Vehicle and Unmanned Surface Vehicle for Cooperative Missions
Hanlin Niu, Ze Ji, Pietro Liguori +2
In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the s…
Model Checking for Decision Making System of Long Endurance Unmanned Surface Vehicle
Hanlin Niu, Ze Ji, Al Savvaris +2
This work aims to develop a model checking method to verify the decision making system of Unmanned Surface Vehicle (USV) in a long range surveillance mission. The scenario in this…
Multipliers for nonlinearities with monotone bounds
William P. Heath, Joaquin Carrasco, Dmitry A. Altshuller
We consider Lurye (sometimes written Lur'e) systems whose nonlinear operator is characterised by a possibly multivalued nonlinearity that is bounded above and below by monotone fun…
Construction of Periodic Counterexamples to the Discrete-Time Kalman Conjecture
Peter Seiler, Joaquin Carrasco
This paper considers the Lurye system of a discrete-time, linear time-invariant plant in negative feedback with a nonlinearity. Both monotone and slope-restricted nonlinearities ar…
Duality bounds for discrete-time Zames-Falb multipliers
Jingfan Zhang, Joaquin Carrasco, William Heath
We develop phase limitations for the discrete-time Zames-Falb multipliers based on the separation theorem for Banach spaces. By contrast with their continuous-time counterparts the…
Omnipotent Virtual Giant for Remote Human-Swarm Interaction
Inmo Jang, Junyan Hu, Farshad Arvin +2
This paper proposes an intuitive human-swarm interaction framework inspired by our childhood memory in which we interacted with living ants by changing their positions and environm…
Input-Output Stability of Barrier-Based Model Predictive Control
Panagiotis Petsagkourakis, William P. Heath, Joaquin Carrasco +1
Conditions for input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established throug…
Noncausal FIR Zames-Falb Multiplier Search for Exponential Convergence Rate
Jingfan Zhang, Peter Seiler, Joaquin Carrasco
In the existing literature, there are two approaches to estimate tighter bounds of the exponential convergence rate of stable Lure systems. On one hand, the classical integral quad…
Convex searches for discrete-time Zames-Falb multipliers
Joaquin Carrasco, William P. Heath, Nur Syazreen Ahmad +2
In this paper we develop and analyse convex searches for Zames--Falb multipliers. We present two different approaches: Infinite Impulse Response (IIR) and Finite Impulse Response (…
Conditions for the equivalence between IQC and graph separation stability results
Joaquin Carrasco, Peter Seiler
This paper provides a link between time-domain and frequency-domain stability results in the literature. Specifically, we focus on the comparison between stability results for a fe…
Phase limitations of Zames-Falb multipliers
Shuai Wang, Joaquin Carrasco, William P. Heath
Phase limitations of both continuous-time and discrete-time Zames-Falb multipliers and their relation with the Kalman conjecture are analysed. A phase limitation for continuous-tim…