3 papers
cs.RO2026
Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control
Dawei Zhang, Roberto Tron
Haptic feedback provides an implicit channel for communicating safety intentions during human-robot shared control. Existing haptic guidance systems typically employ predefined int…
cs.RO2026
Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control
Dawei Zhang, Nuo Chen, Shuo Liu +2
We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and te…
eess.SY2026
Koopman-Based Linear MPC for Safe Control using Control Barrier Functions
Shuo Liu, Liang Wu, Dawei Zhang +2
This paper proposes a Koopman-based linear model predictive control (LMPC) framework for safety-critical control of nonlinear discrete-time systems. Existing MPC formulations based…