Zhouyu Zhang

2 accepted papers

2026

Constraint Learning in Multi-Agent Dynamic Games From Demonstrations of Local Nash Interactions

RA-L 2026

We present an inverse dynamic game-based algorithm to learn parametric constraints from a given dataset of local Nash equilibrium interactions between multiple agents. Specifically, we introduce mixed-integer linear programs (MILP) encoding the Karush–Kuhn–Tucker (KKT) conditions of the interacting

Cited by 1 Source ↗Scholar ↗

2024

Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature

Zhouyu Zhang, Jia Shen, Junhyoung Ha, Yue Chen

RA-L 2024

Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large clearance or large curvature, such as aortas or industrial pipe

Cited by 3 Source ↗Scholar ↗