4 citations · 12 across the 8 of their papers we have counts for
8 papers
Real-Time Reconfiguration and Connectivity Maintenance for AUVs Network Under External Disturbances using Distributed Nonlinear Model Predictive Control
Nhat Minh Nguyen, Stephen McIlvanna, Jack Close +1
Advancements in underwater vehicle technology have significantly expanded the potential scope for deploying autonomous or remotely operated underwater vehicles in novel practical a…
A Twin Delayed Deep Deterministic Policy Gradient Algorithm for Autonomous Ground Vehicle Navigation via Digital Twin Perception Awareness
Kabirat Olayemi, Mien Van, Sean McLoone +4
Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation system by increasing accessibility to disabled people, ensure safety and convenienc…
Digital Twin-Driven Reinforcement Learning for Obstacle Avoidance in Robot Manipulators: A Self-Improving Online Training Framework
Yuzhu Sun, Mien Van, Stephen McIlvanna +4
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and f…
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…
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…