Chuyuan Tao — accepted AI-conference papers

2025

DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States

Fanxin Wang, Haolong Jiang, Chuyuan Tao, Wenbin Wan, Yikun Cheng

IROS 2025

Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model Predictive Path Integral (MPPI) method, has recently demonstrated considerable success by leveraging parallel computing

Cited by 3 Source ↗Scholar ↗

2024

An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals

Chuyuan Tao, Sheng Cheng, Fanxin Wang, Yang Zhao, Naira Hovakimyan

IROS 2024poster

For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized optimization-based planner (BSPOP) designed to address the frequency gap cha…

Cited by 1 Source ↗Scholar ↗