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A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes


Oct 03, 2021
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

* submitted to IEEE International Conference on Robotics and Automation (ICRA 2022) 

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A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes


Sep 25, 2021
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

* submitted to IEEE International Conference on Robotics and Automation (ICRA 2022) 

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Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments


Sep 13, 2021
Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath


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Model-free online motion adaptation for energy efficient flights of multicopters


Aug 09, 2021
Xiangyu Wu, Jun Zeng, Andrea Tagliabue, Mark W. Mueller

* 11pages, submitted to IEEE/ASME Transactions on Mechatronics 

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A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions


Jul 18, 2021
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

* submitted to 60th Conference on Decision and Control (CDC 2021) 

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Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles


Jul 01, 2021
Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath

* Accepted to 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE 2021) 

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Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions


May 21, 2021
Jun Zeng, Zhongyu Li, Koushil Sreenath

* Submission for 60th Conference on Decision and Control 

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Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction


Mar 26, 2021
Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath

* To appear on the 2021 International Conference on Robotics and Automation (ICRA 2021) 

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Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization


Aug 01, 2020
Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath


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Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function


Jul 22, 2020
Jun Zeng, Bike Zhang, Koushil Sreenath


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CLUE: A Chinese Language Understanding Evaluation Benchmark


Apr 14, 2020
Liang Xu, Xuanwei Zhang, Lu Li, Hai Hu, Chenjie Cao, Weitang Liu, Junyi Li, Yudong Li, Kai Sun, Yechen Xu, Yiming Cui, Cong Yu, Qianqian Dong, Yin Tian, Dian Yu, Bo Shi, Jun Zeng, Rongzhao Wang, Weijian Xie, Yanting Li, Yina Patterson, Zuoyu Tian, Yiwen Zhang, He Zhou, Shaoweihua Liu, Qipeng Zhao, Cong Yue, Xinrui Zhang, Zhengliang Yang, Zhenzhong Lan

* 9 pages, 4 figures 

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