4 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…