5 papers
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
Fan Zhang, Richie Suganda, Jinfeng Chen +4
A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control method…
Distributed 3D Leader-Follower Formation Control with Field-of-View Safety via Control Barrier Functions
Immanuel R. Santjoko, Richie R. Suganda, Miao Pan +1
This letter proposes a distributed 3D leader-follower formation (3D-LFF) control framework for multi-UAV systems that achieves formation tracking while enforcing perception safety…
XiYOLO: Energy-Aware Object Detection via Iterative Architecture Search and Scaling
Tony Tran, Richie R. Suganda, Bin Hu
Object detection on heterogeneous edge devices must satisfy strict energy, latency, and memory constraints while still providing reliable perception for downstream autonomy. Existi…
Formation-Aware Adaptive Conformalized Perception for Safe Leader-Follower Multi-Robot Systems
Richie R. Suganda, Bin Hu
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, tra…
Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods
Richie R. Suganda, Tony Tran, Miao Pan +3
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state esti…