27 citations · 74 across the 24 of their papers we have counts for
10 papers · 1 filter
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions
Suiyi He, Jun Zeng, Koushil Sreenath
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. Wh…
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem throug…
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…
Model-free online motion adaptation for energy efficient flights of multicopters
Xiangyu Wu, Jun Zeng, Andrea Tagliabue +1
Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to…
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the…
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Jun Zeng, Zhongyu Li, Koushil Sreenath
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to off…
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change
Suiyi He, Jun Zeng, Bike Zhang +1
This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state…
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility
Jun Zeng, Bike Zhang, Zhongyu Li +1
Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical con…
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
Anxing Xiao, Wenzhe Tong, Lizhi Yang +3
An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are…