7 papers
MARS-Dragonfly: Agile and Robust Flight Control of Modular Aerial Robot Systems
Rui Huang, Zhiqian Cai, Siyu Tang +6
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditio…
AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
Xin Chen, Rui Huang, Longbin Tang +1
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational c…
Stabilization of Nonlinear Systems with State-Dependent Representation: From Model-Based to Direct Data-Driven Control
Lidong Li, Rui Huang, Lin Zhao
This paper presents a novel framework for stabilizing nonlinear systems represented in state-dependent form. We first reformulate the nonlinear dynamics as a state-dependent parame…
Video-STR: Reinforcing MLLMs in Video Spatio-Temporal Reasoning with Relation Graph
Wentao Wang, Heqing Zou, Tianze Luo +8
Recent progress in Multimodal Large Language Models (MLLMs) has demonstrated strong semantic understanding capabilities, but struggles to perform precise spatio-temporal understand…
TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems
Rui Huang, Zhiyu Gao, Siyu Tang +4
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MA…
MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems
Rui Huang, Zhenyu Zhang, Siyu Tang +2
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault…