Ziyin Han — accepted AI-conference papers

2026

Failure Detection and Recovery for Quadrotors in the Presence of Severe Rotor Failures With Multiple Model $\mathcal {L}_{1}$ Adaptive Controller

Chengyu Yang, Jiahao Yu, Sheng Cheng, Ziyin Han, Junjie Gao, Bihao Mo +1

RA-L 2026

Over the last few decades, quadrotors proved to be a viable platform for improving efficiency and achieving cost savings in a variety of industries, and yet the safety of flight remains a major challenge to be guaranteed, especially in the presence of rotor failures. In this paper, we revisit the <i

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2026

Throw Maneuver: Exact Trajectories for Invariant Target Hitting in Robotic Throwing

Sheng Cheng, Ziyin Han, Rong Wang, Naira Hovakimyan

ICRA 2026poster

Robots can throw objects to distant targets using gravity, with applications ranging from material transport to firefighting. Existing approaches typically adopt a singleton throw formulation, where the carrier must reach a specific position–velocity configuration at the moment of throw. This relian…

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