4 papers
Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control
Dawei Zhang, Roberto Tron
Haptic feedback provides an implicit channel for communicating safety intentions during human-robot shared control. Existing haptic guidance systems typically employ predefined int…
Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control
Dawei Zhang, Nuo Chen, Shuo Liu +2
We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and te…
Koopman-Based Linear MPC for Safe Control using Control Barrier Functions
Shuo Liu, Liang Wu, Dawei Zhang +2
This paper proposes a Koopman-based linear model predictive control (LMPC) framework for safety-critical control of nonlinear discrete-time systems. Existing MPC formulations based…
Safe and Stable Teleoperation of Quadrotor UAVs under Haptic Shared Autonomy
Dawei Zhang, Roberto Tron
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barri…