41 citations · 104 across the 45 of their papers we have counts for
6 papers · 1 filter
Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into…
Active Learning of Neural Collision Handler for Complex 3D Mesh Deformations
Qingyang Tan, Zherong Pan, Breannan Smith +2
We present a robust learning algorithm to detect and handle collisions in 3D deforming meshes. Our collision detector is represented as a bilevel deep autoencoder with an attention…
Joint Search of Optimal Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +1
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic m…
Multi-Robot Path Planning in Complex Environments via Graph Embedding
Xifeng Gao, Zherong Pan, Ruiqi Ni
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constra…
Planning of Power Grasps Using Infinite Program Under Complementary Constraints
Zherong Pan, Duo Zhang, Changhe Tu +1
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (I…
Optimized Coverage Planning for UV Surface Disinfection
Joao Marcos Correia Marques, Ramya Ramalingam, Zherong Pan +1
UV radiation has been used as a disinfection strategy to deactivate a wide range of pathogens, but existing irradiation strategies do not ensure sufficient exposure of all environm…