6 citations · 7 across the 12 of their papers we have counts for
12 papers
Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions
Zijian Cai, Kiwan Wong, Wenci Xin +3
Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe operation in cluttered environments remains challenging. In addition, t…
Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao +4
Aquatic self-reconfigurable robots must assemble into desired shapes while ensuring safe interactions among multiple agents. This paper proposes a hybrid framework that combines di…
A Closed-Form CLF-CBF Controller for Whole-Body Continuum Soft Robot Collision Avoidance
Kiwan Wong, Maximillian Stölzle, Wei Xiao +1
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still requ…
PoSafeNet: Safe Learning with Poset-Structured Neural Nets
Kiwan Wong, Wei Xiao, Daniela Rus
Safe learning is essential for deploying learningbased controllers in safety-critical robotic systems, yet existing approaches often enforce multiple safety constraints uniformly o…
Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels
Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang +5
Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approach…
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
Kiwan Wong, Maximilian Stölzle, Wei Xiao +3
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee sa…
Optical Flow Matters: an Empirical Comparative Study on Fusing Monocular Extracted Modalities for Better Steering
Fouad Makiyeh, Mark Bastourous, Anass Bairouk +7
Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end meth…
Human Insights Driven Latent Space for Different Driving Perspectives: A Unified Encoder for Efficient Multi-Task Inference
Huy-Dung Nguyen, Anass Bairouk, Mirjana Maras +6
Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However…
ABNet: Attention BarrierNet for Safe and Scalable Robot Learning
Wei Xiao, Tsun-Hsuan Wang, Daniela Rus
Safe learning is central to AI-enabled robots where a single failure may lead to catastrophic results. Barrier-based method is one of the dominant approaches for safe robot learnin…
Safe Control for Soft-Rigid Robots with Self-Contact using Control Barrier Functions
Zach J. Patterson, Wei Xiao, Emily Sologuren +1
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength…
Drive Anywhere: Generalizable End-to-end Autonomous Driving with Multi-modal Foundation Models
Tsun-Hsuan Wang, Alaa Maalouf, Wei Xiao +5
As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning.…
Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planner…