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Jun Zeng
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Safety-critical model predictive control with discrete-time control barrier function
J Zeng, B Zhang, K Sreenath
2021 American Control Conference (ACC), 3882-3889, 2021
1992021
Robotic guide dog: Leading a human with leash-guided hybrid physical interaction
A Xiao, W Tong, L Yang, J Zeng, Z Li, K Sreenath
2021 IEEE International Conference on Robotics and Automation (ICRA), 11470 …, 2021
702021
Rule-based safety-critical control design using control barrier functions with application to autonomous lane change
S He, J Zeng, B Zhang, K Sreenath
2021 American Control Conference (ACC), 178-185, 2021
602021
Enhancing feasibility and safety of nonlinear model predictive control with discrete-time control barrier functions
J Zeng, Z Li, K Sreenath
2021 60th IEEE Conference on Decision and Control (CDC), 6137-6144, 2021
572021
Safety-critical control using optimal-decay control barrier function with guaranteed point-wise feasibility
J Zeng, B Zhang, Z Li, K Sreenath
2021 American Control Conference (ACC), 3856-3863, 2021
472021
Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload
J Zeng, P Kotaru, MW Mueller, K Sreenath
IEEE Robotics and Automation Letters 5 (2), 3074-3081, 2020
432020
Safety-critical control and planning for obstacle avoidance between polytopes with control barrier functions
A Thirugnanam, J Zeng, K Sreenath
2022 International Conference on Robotics and Automation (ICRA), 286-292, 2022
412022
Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles
S Gilroy, D Lau, L Yang, E Izaguirre, K Biermayer, A Xiao, M Sun, ...
2021 IEEE 17th International Conference on Automation Science and …, 2021
322021
Adapting rapid motor adaptation for bipedal robots
A Kumar, Z Li, J Zeng, D Pathak, K Sreenath, J Malik
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
282022
Autonomous racing with multiple vehicles using a parallelized optimization with safety guarantee using control barrier functions
S He, J Zeng, K Sreenath
2022 International Conference on Robotics and Automation (ICRA), 3444-3451, 2022
282022
Collaborative navigation and manipulation of a cable-towed load by multiple quadrupedal robots
C Yang, GN Sue, Z Li, L Yang, H Shen, Y Chi, A Rai, J Zeng, K Sreenath
IEEE Robotics and Automation Letters 7 (4), 10041-10048, 2022
222022
Geometric control of a quadrotor with a load suspended from an offset
J Zeng, K Sreenath
2019 American Control Conference (ACC), 3044-3050, 2019
22*2019
Autonomous navigation of underactuated bipedal robots in height-constrained environments
Z Li, J Zeng, S Chen, K Sreenath
The International Journal of Robotics Research, 02783649231187670, 2023
21*2023
Geometric control and differential flatness of a quadrotor uav with load suspended from a pulley
J Zeng, P Kotaru, K Sreenath
2019 American Control Conference (ACC), 2420-2427, 2019
212019
Duality-based convex optimization for real-time obstacle avoidance between polytopes with control barrier functions
A Thirugnanam, J Zeng, K Sreenath
2022 American Control Conference (ACC), 2239-2246, 2022
20*2022
Dynamic legged manipulation of a ball through multi-contact optimization
C Yang, B Zhang, J Zeng, A Agrawal, K Sreenath
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
162020
Iterative convex optimization for model predictive control with discrete-time high-order control barrier functions
S Liu, J Zeng, K Sreenath, CA Belta
2023 American Control Conference (ACC), 3368-3375, 2023
122023
Model-free online motion adaptation for energy-efficient flight of multicopters
X Wu, J Zeng, A Tagliabue, MW Mueller
IEEE Access 10, 65507-65519, 2022
112022
Bayesian optimization meets hybrid zero dynamics: Safe parameter learning for bipedal locomotion control
L Yang, Z Li, J Zeng, K Sreenath
2022 IEEE International Conference on Robotics and Automation (ICRA), 2022
112022
Bridging model-based safety and model-free reinforcement learning through system identification of low dimensional linear models
Z Li, J Zeng, A Thirugnanam, K Sreenath
Robotics: Science and Systems, 2022
82022
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