3 papers
cs.RO2026
U-OBCA: Uncertainty-Aware Optimization-Based Collision Avoidance via Wasserstein Distributionally Robust Chance Constraints
Zehao Wang, Yuxuan Tang, Han Zhang +2
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navig…
cs.RO2025
Design and Koopman Model Predictive Control of A Soft Exoskeleton Based on Origami-Inspired Pneumatic Actuator for Knee Rehabilitation
Junxiang Wang, Han Zhang, Zehao Wang +3
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilita…
cs.RO2025
Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
Zehao Wang, Han Zhang, Jingchuan Wang +1
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the cen…