6 papers
BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic and Dynamical Movement Primitives
Zezhi Liu, Shizhen Wu, Hanqian Luo +2
In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specific…
RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments
Zhaopeng Zhang, Shizhen Wu, Chenfeng Guo +3
Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adap…
Adaptive RISE Control for Dual-Arm Unmanned Aerial Manipulator Systems with Deep Neural Networks
Yang Wang, Hai Yu, Shizhen Wu +4
The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Neverthele…
Robust Safety Critical Control Under Multiple State and Input Constraints: Volume Control Barrier Function Method
Jinyang Dong, Shizhen Wu, Rui Liu +3
In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel fr…
Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function
Shizhen Wu, Jinyang Dong, Xu Fang +2
Motivated by the latest research on feasible space monitoring of multiple control barrier functions (CBFs) as well as polytopic collision avoidance, this paper studies the Polytope…
Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance
Shizhen Wu, Yongchun Fang, Ning Sun +3
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem…