36 citations · 61 across the 15 of their papers we have counts for
15 papers
Element-based Formation Control: a Unified Perspective from Continuum Mechanics
Kun Cao, Lihua Xie
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional m…
AToM: Adaptive Theory-of-Mind-Based Human Motion Prediction in Long-Term Human-Robot Interactions
Yuwen Liao, Muqing Cao, Xinhang Xu +1
Humans learn from observations and experiences to adjust their behaviours towards better performance. Interacting with such dynamic humans is challenging, as the robot needs to pre…
Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement
Fen Liu, Shenghai Yuan, Wei Meng +2
This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non…
HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions
Jianping Li, Qiutong Leng, Jinxing Liu +7
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These sys…
A Differential Dynamic Programming Framework for Inverse Reinforcement Learning
Kun Cao, Xinhang Xu, Wanxin Jin +2
A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and…
AirCrab: A Hybrid Aerial-Ground Manipulator with An Active Wheel
Muqing Cao, Jiayan Zhao, Xinhang Xu +1
Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF) manipulator. AirCrab l…
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System
Jianping Li, Shenghai Yuan, Muqing Cao +3
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior…
A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System
Xinhang Xu, Muqing Cao, Shenghai Yuan +3
In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed meth…
Quantized distributed Nash equilibrium seeking under DoS attacks
Shuai Feng, Maojiao Ye, Lihua Xie +1
This paper studies distributed Nash equilibrium (NE) seeking under Denial-of-Service (DoS) attacks and quantization. The players can only exchange information with their own direct…
Path Planning for Multiple Tethered Robots Using Topological Braids
Muqing Cao, Kun Cao, Shenghai Yuan +3
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on…
Distributed Online Convex Optimization with Adversarial Constraints: Reduced Cumulative Constraint Violation Bounds under Slater's Condition
Xinlei Yi, Xiuxian Li, Tao Yang +4
This paper considers distributed online convex optimization with adversarial constraints. In this setting, a network of agents makes decisions at each round, and then only a portio…
DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels
Muqing Cao, Xinhang Xu, Shenghai Yuan +3
We present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels…
NEPTUNE: Nonentangling Trajectory Planning for Multiple Tethered Unmanned Vehicles
Muqing Cao, Kun Cao, Shenghai Yuan +2
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targe…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
A Survey on Distributed Online Optimization and Game
Xiuxian Li, Lihua Xie, Na Li
Distributed online optimization and game have been increasingly researched in the last decade, mostly motivated by its wide applications in sensor networks, robotics (e.g., distrib…