44 citations · 66 across the 23 of their papers we have counts for
23 papers
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading…
Leveraging Semantic and Geometric Information for Zero-Shot Robot-to-Human Handover
Jiangshan Liu, Wenlong Dong, Jiankun Wang +1
Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environm…
QUADFormer: Learning-based Detection of Cyber Attacks in Quadrotor UAVs
Pengyu Wang, Zhaohua Yang, Nachuan Yang +7
Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely…
MINER-RRT*: A Hierarchical and Fast Trajectory Planning Framework in 3D Cluttered Environments
Pengyu Wang, Jiawei Tang, Hin Wang Lin +5
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exist…
A Landmark-aware Network for Automated Cobb Angle Estimation Using X-ray Images
Jie Yang, Jiankun Wang, Max Q. -H. Meng
Automated Cobb angle estimation based on X-ray images plays an important role in scoliosis diagnosis, treatment, and progression surveillance. The inadequate feature extraction and…
Autonomous Multiple-Trolley Collection System with Nonholonomic Robots: Design, Control, and Implementation
Peijia Xie, Bingyi Xia, Anjun Hu +6
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated…
Efficient RRT*-based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments
Peiyu Luo, Shilong Yao, Yiyao Yue +3
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and haza…
Disturbance Rejection Control for Autonomous Trolley Collection Robots with Prescribed Performance
Rui-Dong Xi, Liang Lu, Xue Zhang +4
Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work i…
Indoor Exploration and Simultaneous Trolley Collection Through Task-Oriented Environment Partitioning
Junjie Gao, Peijia Xie, Xuheng Gao +3
In this paper, we present a simultaneous exploration and object search framework for the application of autonomous trolley collection. For environment representation, a task-orient…
Neural Network-Based Histologic Remission Prediction In Ulcerative Colitis
Yemin li, Zhongcheng Liu, Xiaoying Lou +9
BACKGROUND & AIMS: Histological remission (HR) is advocated and considered as a new therapeutic target in ulcerative colitis (UC). Diagnosis of histologic remission currently relie…
Multi-robot Path Planning with Rapidly-exploring Random Disjointed-Trees
Biru Zhang, Jiankun Wang, Max Q. -H. Meng
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in…
Virtual Reality Based Robot Teleoperation via Human-Scene Interaction
Lingxiao Meng, Jiangshan Liu, Wei Chai +2
Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a v…
Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots
Bingyi Xia, Hao Luan, Ziqi Zhao +5
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnid…
FabricFolding: Learning Efficient Fabric Folding without Expert Demonstrations
Can He, Lingxiao Meng, Zhirui Sun +2
Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric folding manipulation…
Extrinsic Manipulation on a Support Plane by Learning Regrasping
Peng Xu, Zhiyuan Chen, Jiankun Wang +1
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the c…
Kinova Gemini: Interactive Robot Grasping with Visual Reasoning and Conversational AI
Hanxiao Chen, Jiankun Wang, Max Q. -H. Meng
To facilitate recent advances in robotics and AI for delicate collaboration between humans and machines, we propose the Kinova Gemini, an original robotic system that integrates co…
Quadrotor Autonomous Landing on Moving Platform
Pengyu Wang, Chaoqun Wang, Jiankun Wang +1
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, res…
Multi-Tree Guided Efficient Robot Motion Planning
Zhirui Sun, Jiankun Wang, Max Q. -H. Meng
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to thei…
NR-RRT: Neural Risk-Aware Near-Optimal Path Planning in Uncertain Nonconvex Environments
Fei Meng, Liangliang Chen, Han Ma +2
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explici…
Learning to Reorient Objects with Stable Placements Afforded by Extrinsic Supports
Peng Xu, Hu Cheng, Jiankun Wang +1
Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot…
BiAIT*: Symmetrical Bidirectional Optimal Path Planning with Adaptive Heuristic
Chenming Li, Han Ma, Peng Xu +2
Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially wh…
Enhance Connectivity of Promising Regions for Sampling-based Path Planning
Han Ma, Chenming Li, Jianbang Liu +2
Sampling-based path planning algorithms usually implement uniform sampling methods to search the state space. However, uniform sampling may lead to unnecessary exploration in many…
Relevant Region Sampling Strategy with Adaptive Heuristic for Asymptotically Optimal Path Planning
Chenming Li, Fei Meng, Han Ma +2
Sampling-based planning algorithm is a powerful tool for solving planning problems in high-dimensional state spaces. In this article, we present a novel approach to sampling in the…