1 citations · 1 across the 15 of their papers we have counts for
16 papers
DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion
Run Wang, Alapati Tuerxun, Shuo Liu +4
This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formul…
Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (…
Event-Triggered Adaptive Taylor-Lagrange Control for Safety-Critical Systems
Shuo Liu, Wei Xiao, Christos G. Cassandras +1
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method p…
Koopman-Based Linear MPC for Safe Control using Control Barrier Functions
Shuo Liu, Liang Wu, Dawei Zhang +2
This paper proposes a Koopman-based linear model predictive control (LMPC) framework for safety-critical control of nonlinear discrete-time systems. Existing MPC formulations based…
Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes
Shuo Liu, Zhe Huang, Calin A. Belta
Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth g…
Feasibility-aware Learning of Robust Temporal Logic Controllers using BarrierNet
Wenliang Liu, Shuo Liu, Wei Xiao +1
Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically r…
Sampling-Aware Control Barrier Functions for Safety-Critical and Finite-Time Constrained Control
Shuo Liu, Wei Xiao, Calin A. Belta
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (…
A Predictive and Sampled-Data Barrier Method for Safe and Efficient Quadrotor Control
Ming Gao, Zhanglin Shangguan, Shuo Liu +3
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position…
Learning Safety for Obstacle Avoidance via Control Barrier Functions
Shuo Liu, Zhe Huang, Calin A. Belta
Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Functi…
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) ge…
Auxiliary-Variable Adaptive Control Barrier Functions
Shuo Liu, Wei Xiao, Calin A. Belta
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) oft…
Safety-Critical Control with Guaranteed Lipschitz Continuity via Filtered Control Barrier Functions
Shuo Liu, Wei Xiao, Calin A. Belta
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks,…
Risk-Aware Adaptive Control Barrier Functions for Safe Control of Nonlinear Systems under Stochastic Uncertainty
Shuo Liu, Calin A. Belta
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism…
Learning-Enabled Iterative Convex Optimization for Safety-Critical Model Predictive Control
Shuo Liu, Zhe Huang, Jun Zeng +2
Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper…
Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions for Spatio-Temporally Constrained Safety-Critical Applications
Shuo Liu, Wei Xiao, Calin A. Belta
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic…
Feasibility-Guaranteed Safety-Critical Control with Applications to Heterogeneous Platoons
Shuo Liu, Wei Xiao, Calin A. Belta
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic…