2 citations · 7 across the 6 of their papers we have counts for
6 papers
Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry
Xiangyu Wu, Shuxiao Chen, Koushil Sreenath +1
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive…
Learning Torque Control for Quadrupedal Locomotion
Shuxiao Chen, Bike Zhang, Mark W. Mueller +2
Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion follows a position-based p…
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries
Ayush Agrawal, Shuxiao Chen, Akshara Rai +1
In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback.…
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments
Zhongyu Li, Jun Zeng, Shuxiao Chen +1
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around ob…
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles
Shuxiao Chen, Xiangyu Wu, Mark W. Mueller +1
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localiz…
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot
Shuxiao Chen, Jonathan Rogers, Bike Zhang +1
Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our dev…