48 citations · 81 across the 15 of their papers we have counts for
7 papers · 1 filter
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…