35 citations · 141 across the 15 of their papers we have counts for
6 papers · 1 filter
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…