42 citations · 87 across the 16 of their papers we have counts for
17 papers
Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots
Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2
Learning contact-rich, whole-body manipulation for soft continuum robots is held back by the lack of simulation infrastructure that has accelerated rigid-robot manipulation. Existi…
Estimating Dynamic Soft Continuum Robot States From Boundaries
Tongjia Zheng, Jessica Burgner-Kahrs
State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wre…
Estimating Infinite-Dimensional Continuum Robot States From the Tip
Tongjia Zheng, Ciera McFarland, Margaret Coad +1
Knowing the state of a robot is critical for many problems, such as feedback control. For continuum robots, state estimation is an incredible challenge. First, the motion of a cont…
Learning Evacuee Models from Robot-Guided Emergency Evacuation Experiments
Mollik Nayyar, Ghanghoon Paik, Zhenyuan Yuan +4
Recent research has examined the possibility of using robots to guide evacuees to safe exits during emergencies. Yet, there are many factors that can impact a person's decision to…
Stable Real-Time Feedback Control of a Pneumatic Soft Robot
Sean Even, Tongjia Zheng, Hai Lin +1
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging be…
Full State Estimation of Continuum Robots from Tip Velocities: A Cosserat-Theoretic Boundary Observer
Tongjia Zheng, Qing Han, Hai Lin
State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers.…
Multi-Robot-Guided Crowd Evacuation: Two-Scale Modeling and Control
Tongjia Zheng, Zhenyuan Yuan, Mollik Nayyar +3
Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide…
Task Space Tracking of Soft Manipulators: Inner-Outer Loop Control Based on Cosserat-Rod Models
Tongjia Zheng, Qing Han, Hai Lin
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem…
Multi-Robot-Assisted Human Crowd Evacuation using Navigation Velocity Fields
Tongjia Zheng, Zhenyuan Yuan, Mollik Nayyar +3
This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to mo…
PDE-based Dynamic Control and Estimation of Soft Robotic Arms
Tongjia Zheng, Hai Lin
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control b…
Backstepping Mean-Field Density Control for Large-Scale Heterogeneous Nonlinear Stochastic Systems
Tongjia Zheng, Qing Han, Hai Lin
This work studies the problem of controlling the mean-field density of large-scale stochastic systems, which has applications in various fields such as swarm robotics. Recently, th…
Field Estimation using Robotic Swarms through Bayesian Regression and Mean-Field Feedback
Tongjia Zheng, Hai Lin
Recent years have seen an increased interest in using mean-field density based modelling and control strategy for deploying robotic swarms. In this paper, we study how to dynamical…
Distributed Mean-Field Density Estimation for Large-Scale Systems
Tongjia Zheng, Qing Han, Hai Lin
This work studies how to estimate the mean-field density of large-scale systems in a distributed manner. Such problems are motivated by the recent swarm control technique that uses…
Feedback Interconnected Mean-Field Density Estimation and Control
Tongjia Zheng, Qing Han, Hai Lin
Swarm robotic systems have foreseeable applications in the near future. Recently, there has been an increasing amount of literature that employs mean-field partial differential equ…
Distributed Density Filtering for Large-Scale Systems Using Mean-Filed Models
Tongjia Zheng, Hai Lin
This work studies distributed (probability) density estimation of large-scale systems. Such problems are motivated by many density-based distributed control tasks in which the real…
PDE-based Dynamic Density Estimation for Large-scale Agent Systems
Tongjia Zheng, Qing Han, Hai Lin
Large-scale agent systems have foreseeable applications in the near future. Estimating their macroscopic density is critical for many density-based optimization and control tasks,…
Transporting Robotic Swarms via Mean-Field Feedback Control
Tongjia Zheng, Qing Han, Hai Lin
With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics h…