Junjie Kang — accepted AI-conference papers

2026

NDO-Based Dual Quaternion Control of a Drone with a Cable-Suspended Load

Yuxia Yuan, Junjie Kang, Jinjun Shan, Markus Ryll

ICRA 2026poster

This paper proposes a novel nonlinear disturbance observer (NDO) based dual quaternion dynamics modeling and control framework for a drone with a cable-suspended load. Leveraging dual quaternions, a compact and singularity-free mathematical representation, we derive a unified dynamic model that capt…

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2026

SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System

Seyedreza Rezaei, Junjie Kang, Amaldev Haridevan, Jinjun Shan

ICRA 2026poster

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a Safety Enhanced Passivity-Based Nonlinear MPC (SEP-NMPC) that pr…

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