48 citations · 81 across the 15 of their papers we have counts for
16 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…
Online decentralized decision making with inequality constraints: an ADMM approach
Yuxiao Chen, Mario Santillo, Mrdjan Jankovic +1
We discuss an online decentralized decision making problem where the agents are coupled with affine inequality constraints. Alternating Direction Method of Multipliers (ADMM) is us…
Control Barrier Functions for Sampled-Data Systems with Input Delays
Andrew Singletary, Yuxiao Chen, Aaron D. Ames
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to…
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extrac…
Counter-example Guided Learning of Bounds on Environment Behavior
Yuxiao Chen, Sumanth Dathathri, Tung Phan-Minh +1
There is a growing interest in building autonomous systems that interact with complex environments. The difficulty associated with obtaining an accurate model for such environments…
Safety-Critical Control Synthesis for network systems with Control Barrier Functions and Assume-Guarantee Contracts
Yuxiao Chen, James Anderson, Karan Kalsi +2
This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimens…
Optimal Safe Controller Synthesis: A Density Function Approach
Yuxiao Chen, Mohamadreza Ahmadi, Aaron D. Ames
This paper considers the synthesis of optimal safe controllers based on density functions. We present an algorithm for robust constrained optimal control synthesis using the dualit…
Sparsity Preserving Discretization With Error Bounds
James Anderson, Nikolai Matni, Yuxiao Chen
Typically when designing distributed controllers it is assumed that the state-space model of the plant consists of sparse matrices. However, in the discrete-time setting, if one be…
System Level Synthesis with State and Input Constraints
Yuxiao Chen, James Anderson
This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we…
Duality between density function and value function with applications in constrained optimal control and Markov Decision Process
Yuxiao Chen, Aaron D. Ames
Density function describes the density of states in the state space of a dynamic system or a Markov Decision Process (MDP). Its evolution follows the Liouville equation. We show th…
Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts
Yuxiao Chen, James Anderson, Karan Kalsi +2
This paper presents an assume-guarantee reasoning approach to the computation of robust invariant sets for network systems. Parameterized signal temporal logic (pSTL) is used to fo…