3 papers
cs.RO2026
Parallel OctoMapping: A Scalable Framework for Enhanced Path Planning in Autonomous Navigation
Yihui Mao, Tian Tan, Xuehui Shen +2
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reli…
eess.SY2025
Lyapunov-Based Kolmogorov-Arnold Network (KAN) Adaptive Control
Xuehui Shen, Wenqian Xue, Yixuan Wang +1
Recent advancements in Lyapunov-based Deep Neural Networks (Lb-DNNs) have demonstrated improved performance over shallow NNs and traditional adaptive control for nonlinear systems…
eess.SY2025
Lyapunov-based Adaptive Transformer (LyAT) for Control of Stochastic Nonlinear Systems
Saiedeh Akbari, Xuehui Shen, Wenqian Xue +2
This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applica…