3 citations · 7 across the 4 of their papers we have counts for
5 papers · 1 filter
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
Hongkai Dai, Frank Permenter
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with o…
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Alexandre Amice, Hongkai Dai, Peter Werner +2
Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a po…
Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang +2
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers…
A Convex-Combinatorial Model for Planar Caging
Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful gua…
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to…