Desong Du — accepted AI-conference papers

2023

Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions

Desong Du, Shaohang Han, Naiming Qi, Haitham Bou Ammar, Jun Wang, Wei Pan

ICRA 2023poster

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this challenge, this paper explores the control Lyapunov barrier functio…

Cited by 18 Source ↗Scholar ↗

2020

Homotopic Approach for Robot Allocation Optimization Coupled With Path Constraints

Weiran Yao, Naiming Qi, Yongbei Liu, Song Xu, Desong Du

RA-L 2020

This letter investigates a special task allocation problem with constraints of path planning. The path planning process involved is defined as the follow-up step of task allocation. The allocation problem is coupled with path constraints, which will affect the utility of allocation solution. A homot

Cited by 8 Source ↗Scholar ↗