17 citations · 31 across the 9 of their papers we have counts for
9 papers
Velocity Obstacle Based Risk-Bounded Motion Planning for Stochastic Multi-Agent Systems
Xiaoxue Zhang, Jun Ma, Zilong Cheng +2
In this paper, we present an innovative risk-bounded motion planning methodology for stochastic multi-agent systems. For this methodology, the disturbance, noise, and model uncerta…
Receding Horizon Motion Planning for Multi-Agent Systems: A Velocity Obstacle Based Probabilistic Method
Xiaoxue Zhang, Jun Ma, Zilong Cheng +2
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chanc…
Sequential Convex Programming for Collaboration of Connected and Automated Vehicles
Xiaoxue Zhang, Jun Ma, Zilong Cheng +2
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a n…
Semi-Definite Relaxation Based ADMM for Cooperative Planning and Control of Connected Autonomous Vehicles
Xiaoxue Zhang, Zilong Cheng, Jun Ma +3
This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of t…
Improved Hierarchical ADMM for Nonconvex Cooperative Distributed Model Predictive Control
Xiaoxue Zhang, Jun Ma, Zilong Cheng +3
Distributed optimization is often widely attempted and innovated as an attractive and preferred methodology to solve large-scale problems effectively in a localized and coordinated…
Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving
Jun Ma, Zilong Cheng, Xiaoxue Zhang +2
In the context of autonomous driving, the iterative linear quadratic regulator (iLQR) is known to be an efficient approach to deal with the nonlinear vehicle model in motion planni…
Trajectory Generation by Chance Constrained Nonlinear MPC with Probabilistic Prediction
Xiaoxue Zhang, Jun Ma, Zilong Cheng +3
Continued great efforts have been dedicated towards high-quality trajectory generation based on optimization methods, however, most of them do not suitably and effectively consider…
On Symmetric Gauss-Seidel ADMM Algorithm for Guaranteed Cost Control with Convex Parameterization
Jun Ma, Zilong Cheng, Xiaoxue Zhang +2
This paper involves the innovative development of a symmetric Gauss-Seidel ADMM algorithm to solve the H-infinity guaranteed cost control problem. In the presence of parametric unc…
Optimal Decentralized Control for Uncertain Systems by Symmetric Gauss-Seidel Semi-Proximal ALM
Jun Ma, Zilong Cheng, Xiaoxue Zhang +2
The H2 guaranteed cost decentralized control problem is investigated in this work. More specifically, on the basis of an appropriate H2 re-formulation that we put in place, the opt…