4 citations · 16 across the 10 of their papers we have counts for
10 papers
Fixed-time Adaptive Neural Control for Physical Human-Robot Collaboration with Time-Varying Workspace Constraints
Yuzhu Sun, Mien Van, Stephen McIlvanna +4
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a nov…
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration
Dianhao Zhang, Mien Van, Pantelis Sopasakis +1
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critica…
Adaptive Safety-critical Control with Uncertainty Estimation for Human-robot Collaboration
Dianhao Zhang, Mien Van, Stephen Mcllvanna +2
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field…
Distributed Fixed-Time Consensus Control for Multiple AUV Systems with Input Saturations
Mien Van, Yuzhu Sun, Stephen Mcllvanna +4
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formatio…
Digital Twins for Marine Operations: A Brief Review on Their Implementation
Federico Zocco, Hsueh-Cheng Wang, Mien Van
While the concept of a digital twin to support maritime operations is gaining attention for predictive maintenance, real-time monitoring, control, and overall process optimization,…
Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators
Stephen McIlvanna, Nhat Nguyen Minh, Yuzhu Sun +2
In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulato…
Enhancing Mobile Robot Navigation Safety and Efficiency through NMPC with Relaxed CBF in Dynamic Environments
Nhat Nguyen Minh, Stephen McIlvanna, Yuzhu Sun +2
In this paper, a safety-critical control strategy for a nonholonomic robot is developed to generate control signals that result in optimal, obstacle-free paths through dynamic envi…
Fixed-time Integral Sliding Mode Control for Admittance Control of a Robot Manipulator
Yuzhu Sun, Mien Van, Stephen McIlvanna +2
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benef…
Adaptive Admittance Control for Safety-Critical Physical Human Robot Collaboration
Yuzhu Sun, Mien Van, Stephen McIlvanna +2
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle sa…
Non-local Graph Convolutional Network for joint Activity Recognition and Motion Prediction
Dianhao Zhang, Ngo Anh Vien, Mien Van +1
3D skeleton-based motion prediction and activity recognition are two interwoven tasks in human behaviour analysis. In this work, we propose a motion context modeling methodology th…