3 papers
cs.RO2026
ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
Xinyu Jia, Wenxin Wang, Jun Yang +2
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free…
cs.RO2026
Dual-Quadruped Collaborative Transportation in Narrow Environments via Safe Reinforcement Learning
Zhezhi Lei, Zhihai Bi, Wenxin Wang +1
Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performanc…
cs.RO2025
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
Xinyu Jia, Wenxin Wang, Jun Yang +2
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full…