1 citations · 1 across the 12 of their papers we have counts for
12 papers
Safety-Critical Control under Uncertainty via Adaptive Conformal Quantile Prediction Intervals
Hao Zhou, Yanze Zhang, Yiwei Lyu +1
Safety-critical control under uncertainty requires uncertainty representations that are both statistically valid (for certifiable performance) and compatible with enforceable safet…
Certifiable Safe Model-Based Reinforcement Learning with Control-Affine Dynamics Approximation
Hao Zhou, Yanze Zhang, Cameron Reid +1
Safe model-based reinforcement learning (RL) often bridges control-theoretic analysis and RL for robots to safely explore (partially) unknown system dynamics while deriving control…
Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs
Hao Liu, Yupeng Yang, Yanze Zhang +1
In multi-robot systems, maintaining persistent communication graph connectivity is often overly restrictive, especially when robots have limited communication ranges but operate in…
Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations
Siwon Jo, Yanze Zhang, Yupeng Yang +1
Safe navigation often relies on well-defined conditions based on the shape of robots and obstacles, and can be challenging when they have irregular geometries. While Control Barrie…
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Joonkyung Kim, Yanze Zhang, Wenhao Luo +1
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assu…
Computationally and Sample Efficient Safe Reinforcement Learning Using Adaptive Conformal Prediction
Hao Zhou, Yanze Zhang, Wenhao Luo
Safety is a critical concern in learning-enabled autonomous systems especially when deploying these systems in real-world scenarios. An important challenge is accurately quantifyin…
Adaptive Deadlock Avoidance for Decentralized Multi-agent Systems via CBF-inspired Risk Measurement
Yanze Zhang, Yiwei Lyu, Siwon Jo +2
Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit…
Integrating Online Learning and Connectivity Maintenance for Communication-Aware Multi-Robot Coordination
Yupeng Yang, Yiwei Lyu, Yanze Zhang +2
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communica…
Courteous MPC for Autonomous Driving with CBF-inspired Risk Assessment
Yanze Zhang, Yiwei Lyu, Sude E. Demir +4
With more autonomous vehicles (AVs) sharing roadways with human-driven vehicles (HVs), ensuring safe and courteous maneuvers that respect HVs' behavior becomes increasingly importa…
Safety-Critical Control with Uncertainty Quantification using Adaptive Conformal Prediction
Hao Zhou, Yanze Zhang, Wenhao Luo
Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address un…
Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty
Yupeng Yang, Yiwei Lyu, Yanze Zhang +2
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization…
Occlusion-Free Image Based Visual Servoing using Probabilistic Control Barrier Certificates
Yanze Zhang, Yupeng Yang, Wenhao Luo
Image-based visual servoing (IBVS) is a widely-used approach in robotics that employs visual information to guide robots towards desired positions. However, occlusions in this appr…