42 citations · 94 across the 18 of their papers we have counts for
18 papers
Incremental Few-Shot Learning via Implanting and Compressing
Yiting Li, Haiyue Zhu, Xijia Feng +5
This work focuses on tackling the challenging but realistic visual task of Incremental Few-Shot Learning (IFSL), which requires a model to continually learn novel classes from only…
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…
Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage
Wenxin Wang, Jun Ma, Zilong Cheng +3
Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Neverthele…
Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks
Wenxin Wang, Jun Ma, Zilong Cheng +3
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouri…
Convex Parameterization and Optimization for Robust Tracking of a Magnetically Levitated Planar Positioning System
Jun Ma, Zilong Cheng, Haiyue Zhu +3
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-…
Alternating Direction Method of Multipliers-Based Parallel Optimization for Multi-Agent Collision-Free Model Predictive Control
Zilong Cheng, Jun Ma, Wenxin Wang +3
This paper investigates the collision-free control problem for multi-agent systems. For such multi-agent systems, it is the typical situation where conventional methods using eithe…
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…
Neural-iLQR: A Learning-Aided Shooting Method for Trajectory Optimization
Zilong Cheng, Yulin Li, Kai Chen +2
Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooti…
Data-Driven Predictive Control Towards Multi-Agent Motion Planning With Non-Parametric Closed-Loop Behavior Learning
Jun Ma, Zilong Cheng, Wenxin Wang +3
In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, th…
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…
Second-Order Non-Convex Optimization for Constrained Fixed-Structure Static Output Feedback Controller Synthesis
Zilong Cheng, Jun Ma, Xiaocong Li +2
For linear time-invariant (LTI) systems, the design of an optimal controller is a commonly encountered problem in many applications. Among all the optimization approaches available…
Data-Driven Linear Quadratic Optimization for Controller Synthesis with Structural Constraints
Jun Ma, Zilong Cheng, Xiaocong Li +3
For various typical cases and situations where the formulation results in an optimal control problem, the Linear Quadratic Regulator (LQR) approach and its variants continue to be…