5 citations · 9 across the 5 of their papers we have counts for
5 papers
RAEM: Robust Autonomous Exploration for Multi-Floor Environments with a Quadruped Robot
Zikang Yuan, Yuan Ren, Yian Wang +10
In this paper, we propose RAEM, a robust autonomous exploration framework for quadruped robots operating in multi-floor environments. Most existing ground-robot exploration approac…
Policy Gradient for Robust Markov Decision Processes
Qiuhao Wang, Shaohang Xu, Chin Pang Ho +1
We develop a generic policy gradient method with the global optimality guarantee for robust Markov Decision Processes (MDPs). While policy gradient methods are widely used for solv…
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Wentao Zhang, Shaohang Xu, Gewei Zuo +3
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the…
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness
Wentao Zhang, Shaohang Xu, Peiyuan Cai +1
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capa…
Wasserstein Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Shaohang Xu, Haolin Ruan, Wentao Zhang +3
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex…