3 papers
eess.SY2026
Anytime Primal--Dual Certification of the Maximum Disturbance Radius in Robust MPC
Wenqi Cai, Muhammad Bakr Abdelghany, Kyriakos G. Vamvoudakis +1
Adjustable-set robust model predictive control (MPC) characterizes a state-dependent maximum disturbance radius, which can be interpreted as a certified robustness reserve. Existin…
cs.RO2026
Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation
Jamil Chahine, Wenqi Cai, John Abanes +1
Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicted clearance, time to collision, and required deceleration. A model-p…
cs.RO2026
Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
Wenqi Cai, John Abanes, Nikolaos Evangeliou +1
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movement…