17 citations · 22 across the 4 of their papers we have counts for
4 papers
Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm
Shreyas Kousik, Bohao Zhang, Pengcheng Zhao +1
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor informatio…
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan +2
Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to…
Optimal Control for Nonlinear Hybrid Systems via Convex Relaxations
Pengcheng Zhao, Shankar Mohan, Ram Vasudevan
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this cl…
Control Synthesis for Nonlinear Optimal Control via Convex Relaxations
Pengcheng Zhao, Shankar Mohan, Ram Vasudevan
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon tran…