1 citations · 1 across the 15 of their papers we have counts for
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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…