42 citations · 45 across the 7 of their papers we have counts for
7 papers
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
Junjie An, Yi Wu, Xiao Liu +5
End-to-end diffusion-based policies have demonstrated strong performance in mapless visual navigation, but their iterative denoising process introduces substantial inference latenc…
A High-Speed Capable Spherical Robot
Bixuan Zhang, Fengqi Zhang, Haojie Chen +4
This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incor…
SOMTP: Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics
Yifan Liu, You Wang, Guang Li
Model Predictive Control (MPC)-based trajectory planning has been widely used in robotics, and incorporating Control Barrier Function (CBF) constraints into MPC can greatly improve…
Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots
Yifan Liu, Tao Hu, Xiaoqing Guan +4
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple te…
Discrete States-Based Trajectory Planning for Nonholonomic Robots
Ziyi Zou, Ziang Zhang, Zhen Lu +4
Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete States-based Trajectory Planning(DSTP) algor…
An MPC-based Optimal Motion Control Framework for Pendulum-driven Spherical Robots
Tao Hu, Xiaoqing Guan, Yixu Wang +5
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only…
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Yifan Liu, Yixu Wang, Xiaoqing Guan +6
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new di…