38 citations · 58 across the 9 of their papers we have counts for
9 papers
MetaTune: Adjoint-based Meta-tuning via Robotic Differentiable Dynamics
Xiexin Peng, Bingheng Wang, Tao Zhang +2
Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupl…
DiffCoord: Differentiable Coordination for Distributed Multi-Agent Trajectory Optimization
Bingheng Wang, Yichao Gao, Tianchen Sun +2
Integrating the Alternating Direction Method of Multipliers (ADMM) with Differential Dynamic Programming (DDP) provides a scalable framework for distributed multi-agent trajectory…
Learning Agile Gate Traversal via Analytical Optimal Policy Gradient
Tianchen Sun, Bingheng Wang, Nuthasith Gerdpratoom +3
Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous f…
Auto-Multilift: Distributed Learning and Control for Cooperative Load Transportation With Quadrotors
Bingheng Wang, Rui Huang, Lin Zhao
Designing motion control and planning algorithms for multilift systems remains challenging due to the complexities of dynamics, collision avoidance, actuator limits, and scalabilit…
Trust-Region Neural Moving Horizon Estimation for Robots
Bingheng Wang, Xuyang Chen, Lin Zhao
Accurate disturbance estimation is essential for safe robot operations. The recently proposed neural moving horizon estimation (NeuroMHE), which uses a portable neural network to m…
Learning Agile Flight Maneuvers: Deep SE(3) Motion Planning and Control for Quadrotors
Yixiao Wang, Bingheng Wang, Shenning Zhang +2
Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model…
Neural Moving Horizon Estimation for Robust Flight Control
Bingheng Wang, Zhengtian Ma, Shupeng Lai +1
Estimating and reacting to disturbances is crucial for robust flight control of quadrotors. Existing estimators typically require significant tuning for a specific flight scenario…
Differentiable Moving Horizon Estimation for Robust Flight Control
Bingheng Wang, Zhengtian Ma, Shupeng Lai +2
Estimating and reacting to external disturbances is of fundamental importance for robust control of quadrotors. Existing estimators typically require significant tuning or training…
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
Hua Chen, Bingheng Wang, Zejun Hong +3
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierar…