Zobrazeno 1 - 10
of 1 031
pro vyhledávání: '"Sun, ZhiYong"'
This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller parameters,
Externí odkaz:
http://arxiv.org/abs/2409.12824
Decision-making for autonomous driving incorporating different types of risks is a challenging topic. This paper proposes a novel risk metric to facilitate the driving task specified by linear temporal logic (LTL) by balancing the risk brought up by
Externí odkaz:
http://arxiv.org/abs/2409.09769
It has been an ambition of many to control a robot for a complex task using natural language (NL). The rise of large language models (LLMs) makes it closer to coming true. However, an LLM-powered system still suffers from the ambiguity inherent in an
Externí odkaz:
http://arxiv.org/abs/2409.09536
This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent vehicles and m
Externí odkaz:
http://arxiv.org/abs/2404.09037
Autor:
Li, Ming, Sun, Zhiyong
In this paper, we have demonstrated that the controllers designed by a classical motion planning tool, namely artificial potential fields (APFs), can be derived from a recently prevalent approach: control barrier function quadratic program (CBF-QP) s
Externí odkaz:
http://arxiv.org/abs/2403.15743
Sontag's universal formula is a widely-used technique for stabilizing control through control Lyapunov functions, and it has been extended to address safety-critical control in recent years by incorporating control barrier functions (CBFs). However,
Externí odkaz:
http://arxiv.org/abs/2403.06285
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling term, a uni
Externí odkaz:
http://arxiv.org/abs/2403.03030
Cyber-physical systems (CPSs) facilitate the integration of physical entities and cyber infrastructures through the utilization of pervasive computational resources and communication units, leading to improved efficiency, automation, and practical vi
Externí odkaz:
http://arxiv.org/abs/2402.10505
We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a conv
Externí odkaz:
http://arxiv.org/abs/2401.14013
Safe stabilization is a significant challenge for quadrotors, which involves reaching a goal position while avoiding obstacles. Most of the existing solutions for this problem rely on optimization-based methods, demanding substantial onboard computat
Externí odkaz:
http://arxiv.org/abs/2401.03500