222 citations · 841 across the 78 of their papers we have counts for
11 papers · 1 filter
DDCNN: A Promising Tool for Simulation-To-Reality UAV Fault Diagnosis
Wei Zhang, Shanze Wang, Junjie Tong +3
Identifying the fault in propellers is important to keep quadrotors operating safely and efficiently. The simulation-to-reality (sim-to-real) UAV fault diagnosis methods provide a…
Circular Accessible Depth: A Robust Traversability Representation for UGV Navigation
Shikuan Xie, Ran Song, Yuenan Zhao +3
In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenar…
On the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
This paper studies the class of scenario-based safety testing algorithms in the black-box safety testing configuration. For algorithms sharing the same state-action set coverage wi…
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety perfor…
Learn to Navigate Maplessly with Varied LiDAR Configurations: A Support Point-Based Approach
Wei Zhang, Ning Liu, Yunfeng Zhang
Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the…
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart +2
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dyna…
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
Hua Chen, Patrick M. Wensing, Wei Zhang
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modu…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning
Hao Li, Bowen Weng, Abhishek Gupta +2
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and compl…
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid +1
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this…
Danger-aware Adaptive Composition of DRL Agents for Self-navigation
Wei Zhang, Yunfeng Zhang, Ning Liu
Self-navigation, referred as the capability of automatically reaching the goal while avoiding collisions with obstacles, is a fundamental skill required for mobile robots. Recently…