53 citations · 100 across the 6 of their papers we have counts for
7 papers
An Ergonomic Interaction Workspace Analysis Method for the Optimal Design of a Surgical Master Manipulator
Dandan Zhang, Jindong Liu, Guangzhong Yang
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic desi…
Non-uniform Sampled Motion Planning for Continuous-time STL
Guang Yang, Calin Belta, Roberto Tron
This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are appl…
Haptic Teleoperation of UAVs through Control Barrier Functions
Dawei Zhang, Guang Yang, Rebecca P. Khurshid
This paper presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly qu…
Distributed and Consistent Multi-Image Feature Matching via QuickMatch
Zachary Serlin, Guang Yang, Brandon Sookraj +2
In this work we consider the multi-image object matching problem, extend a centralized solution of the problem to a distributed solution, and present an experimental application of…
Sampling-based Motion Planning via Control Barrier Functions
Guang Yang, Bee Vang, Zachary Serlin +2
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion p…
Continuous-time Signal Temporal Logic Planning with Control Barrier Function
Guang Yang, Roberto Tron, Calin Belta
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely…
Self-triggered Control for Safety Critical Systems using Control Barrier Functions
Guang Yang, Calin Belta, Roberto Tron
We propose a real-time control strategy that combines self-triggered control with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF). Similar to related works pro…