8 citations · 13 across the 11 of their papers we have counts for
11 papers
Distributed Secure Learning Control for Large-scale Multirobots under Stealthy Actuator Attacks
Xinglong Zhang, Qingwen Ma, Cong Li +5
Distributed learning control for multirobot systems (MRS) offers significant flexibility in presence of uncertainties but lacks provable performance guarantees. A promising directi…
Physics-based Online Adaptive Koopman Model Predictive Attitude Control for Combined Spacecraft with Dynamic Uncertainties
Yicheng Sun, Yueyong Lyu, Yuhan Liu +2
This paper proposes a physics-based adaptive Koopman Model Predictive Control (MPC) strategy for combined spacecraft attitude stabilization under inertia uncertainties and active t…
Koopman Dreamer: Spectrally Constrained Latent Dynamics for Stable World-Model Imagination
Jiaqi Li, Xinglong Zhang, Haibin Xie +3
Latent world models improve sample efficiency in continuous control by optimizing policies over imagined latent trajectories, but common neural transitions offer limited direct con…
Local Path Optimization in The Latent Space Using Learned Distance Gradient
Jiawei Zhang, Chengchao Bai, Wei Pan +2
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive p…
Vehicle Dynamics Embedded World Models for Autonomous Driving
Huiqian Li, Wei Pan, Haodong Zhang +2
World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can pr…
Toward Scalable Multirobot Control: Fast Policy Learning in Distributed MPC
Xinglong Zhang, Wei Pan, Cong Li +4
Distributed model predictive control (DMPC) is promising in achieving optimal cooperative control in multirobot systems (MRS). However, real-time DMPC implementation relies on nume…
Modular Adaptive Aerial Manipulation under Unknown Dynamic Coupling Forces
Rishabh Dev Yadav, Swati Dantu, Wei Pan +3
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this…
Virtual-force Based Visual Servo for Multiple Peg-in-Hole Assembly with Tightly Coupled Multi-Manipulator
Jiawei Zhang, Chengchao Bai, Wei Pan +1
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simu…
Deep Bayesian Reinforcement Learning for Spacecraft Proximity Maneuvers and Docking
Desong Du, Naiming Qi, Yanfang Liu +1
In the pursuit of autonomous spacecraft proximity maneuvers and docking(PMD), we introduce a novel Bayesian actor-critic reinforcement learning algorithm to learn a control policy…
DACOOP-A: Decentralized Adaptive Cooperative Pursuit via Attention
Zheng Zhang, Dengyu Zhang, Qingrui Zhang +2
Integrating rule-based policies into reinforcement learning promises to improve data efficiency and generalization in cooperative pursuit problems. However, most implementations do…
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
Xinyu Zhang, Zhiyuan Xiao, Qingrui Zhang +1
The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration o…