7 papers
Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform
Fanxin Wang, Yikun Cheng, Chuyuan Tao +2
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this proce…
DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States
Fanxin Wang, Haolong Jiang, Chuyuan Tao +2
Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model…
Verification and Validation of a Vision-Based Landing System for Autonomous VTOL Air Taxis
Ayoosh Bansal, Duo Wang, Mikael Yeghiazaryan +9
Autonomous air taxis are poised to revolutionize urban mass transportation, however, ensuring their safety and reliability remains an open challenge. Validating autonomy solutions…
CROPS: A Deployable Crop Management System Over All Possible State Availabilities
Jing Wu, Zhixin Lai, Shengjie Liu +6
Exploring the optimal management strategy for nitrogen and irrigation has a significant impact on crop yield, economic profit, and the environment. To tackle this optimization chal…
Resilient Estimator-based Control Barrier Functions for Dynamical Systems with Disturbances and Noise
Chuyuan Tao, Wenbin Wan, Junjie Gao +3
Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety s…
An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals
Chuyuan Tao, Sheng Cheng, Yang Zhao +2
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study,…