5 papers
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
Fan Zhang, Richie Suganda, Jinfeng Chen +4
A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control method…
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
Fan Zhang, Jinfeng Chen, Joseph J. B. Mvogo Ahanda +4
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinemati…
SOLAR: Switchable Output Layer for Accuracy and Robustness in Once-for-All Training
Shaharyar Ahmed Khan Tareen, Lei Fan, Xiaojing Yuan +2
Once-for-All (OFA) training enables a single super-net to generate multiple sub-nets tailored to diverse deployment scenarios, supporting flexible trade-offs among accuracy, robust…
ELASTIC: Efficient Once For All Iterative Search for Object Detection on Microcontrollers
Tony Tran, Qin Lin, Bin Hu
Deploying high-performance object detectors on TinyML platforms poses significant challenges due to tight hardware constraints and the modular complexity of modern detection pipeli…
Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods
Richie R. Suganda, Tony Tran, Miao Pan +3
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state esti…