48 citations · 64 across the 9 of their papers we have counts for
12 papers
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
Xiaobin Xiong, Yuxiao Chen, Aaron Ames
We present a stepping stabilization control that addresses external push disturbances on bipedal walking robots. The stepping control is synthesized based on the step-to-step (S2S)…
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
Andrew Singletary, Aiden Swann, Yuxiao Chen +1
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7"…
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates
Zengyi Qin, Kaiqing Zhang, Yuxiao Chen +2
We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is t…
Reactive motion planning with probabilistic safety guarantees
Yuxiao Chen, Ugo Rosolia, Chuchu Fan +2
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers th…
Lidar-based exploration and discretization for mobile robot planning
Yuxiao Chen, Andrew Singletary, Aaron D. Ames
In robotic applications, the control, and actuation deal with a continuous description of the system and environment, while high-level planning usually works with a discrete descri…
Decentralized Task and Path Planning for Multi-Robot Systems
Yuxiao Chen, Ugo Rosolia, Aaron D. Ames
We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) frame…