Yuepeng Zhang — accepted AI-conference papers

2025

Adaptive Visual Servoing Control Barrier Function of Robotic Manipulators with Uncalibrated Camera

Jianing Zhao, Mingyang Feng, Yuepeng Zhang, Siqi Wang, Xiang Yin

IROS 2025

This paper investigates the problem of safe visual servoing control of manipulators using an uncalibrated eye-in-hand camera based on control barrier functions (CBFs). Traditional CBFs are defined in the workspace, corresponding to the global coordinates of the base frame. However, when the camera’s

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2025

Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments

Yuepeng Zhang, Yu Chen, Yuda Li, Shaoyuan Li, Xiang Yin

IROS 2025

Control Barrier Functions (CBFs) have emerged as an effective and non-invasive safety filter for ensuring the safety of autonomous systems in dynamic environments with formal guarantees. However, most existing works on CBF synthesis focus on fully known settings. Synthesizing CBFs online based on pe

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