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Receding Horizon Motion Planning for Multi-Agent Systems: A Velocity Obstacle Based Probabilistic Method


Mar 24, 2021
Xiaoxue Zhang, Jun Ma, Zilong Cheng, Sunan Huang, Tong Heng Lee

* 8 pages, 7 figures 

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Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage


Mar 23, 2021
Wenxin Wang, Jun Ma, Zilong Cheng, Xiaocong Li, Abdullah Al Mamun, Tong Heng Lee

* 7 pages, 8 figures 

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Neural Network iLQR: A New Reinforcement Learning Architecture


Nov 21, 2020
Zilong Cheng, Jun Ma, Xiaoxue Zhang, Frank L. Lewis, Tong Heng Lee

* 13 pages, 9 figures 

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Data-Driven Predictive Control for Multi-Agent Decision Making With Chance Constraints


Nov 06, 2020
Jun Ma, Zilong Cheng, Xiaoxue Zhang, Abdullah Al Mamun, Clarence W. de Silva, Tong Heng Lee

* 10 pages, 6 figures 

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Accelerated Hierarchical ADMM for Nonconvex Optimization in Multi-Agent Decision Making


Nov 01, 2020
Xiaoxue Zhang, Jun Ma, Zilong Cheng, Sunan Huang, Clarence W. de Silva, Tong Heng Lee

* 11 pages, 3 figures 

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Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving


Nov 01, 2020
Jun Ma, Zilong Cheng, Xiaoxue Zhang, Masayoshi Tomizuka, Tong Heng Lee

* 9 pages, 8 figures 

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Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System


Jul 06, 2020
Xiaocong Li, Haiyue Zhu, Jun Ma, Tat Joo Teo, Chek Sing Teo, Masayoshi Tomizuka, Tong Heng Lee

* 11 pages, 11 figures, to appear in IEEE/ASME Transactions on Mechatronics 

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Role Playing Learning for Socially Concomitant Mobile Robot Navigation


May 29, 2017
Mingming Li, Rui Jiang, Shuzhi Sam Ge, Tong Heng Lee


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