5 papers
U-OBCA: Uncertainty-Aware Optimization-Based Collision Avoidance via Wasserstein Distributionally Robust Chance Constraints
Zehao Wang, Yuxuan Tang, Han Zhang +2
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navig…
Koopman Model Predictive Control of An Origami-Inspired Soft Exoskeleton for Knee Rehabilitation
Junxiang Wang, Han Zhang, Zehao Wang +3
Knee rehabilitation plays a critical role in restoring patients' mobility and functional independence. Traditional rigid rehabilitation exoskeletons are often bulky and cumbersome…
A 4D Radar Camera Extrinsic Calibration Tool Based on 3D Uncertainty Perspective N Points
Chuan Cao, Xiaoning Wang, Wenqian Xi +3
4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20 of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity informa…
Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
Zehao Wang, Han Zhang, Jingchuan Wang +1
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the cen…
K-BMPC: Derivative-based Koopman Bilinear Model Predictive Control for Tractor-Trailer Trajectory Tracking with Unknown Parameters
Zehao Wang, Han Zhang, Jingchuan Wang
Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown.…