8 citations · 13 across the 11 of their papers we have counts for
9 papers · 1 filter
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…
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…