Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley. - Jun Zeng 002; Prasanth Kotaru; Koushil Sreenath (ACC, 2019)

Geometric Control of a Quadrotor with a Load Suspended from an Offset. - Jun Zeng 002; Koushil Sreenath (ACC, 2019)

Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. - Chenyu Yang; Bike Zhang; Jun Zeng 002; Ayush Agrawal; Koushil Sreenath (IROS, 2020)

Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. - Jun Zeng 002; Prasanth Kotaru; Mark W. Mueller; Koushil Sreenath (IEEE Robotics Autom. Lett., 2020)

Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. - Suiyi He; Jun Zeng 002; Bike Zhang; Koushil Sreenath (ACC, 2021)

Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. - Jun Zeng 002; Bike Zhang; Zhongyu Li 003; Koushil Sreenath (ACC, 2021)

Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. - Jun Zeng 002; Bike Zhang; Koushil Sreenath (ACC, 2021)

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. - Scott Gilroy; Derek Lau; Lizhi Yang; Ed Izaguirre; Kristen Biermayer; Anxing Xiao; Mengti Sun; Ayush Agrawal; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (CASE, 2021)

Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. - Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (CDC, 2021)

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. - Anxing Xiao; Wenzhe Tong; Lizhi Yang; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (ICRA, 2021)

A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Model-free online motion adaptation for energy efficient flights of multicopters. - Xiangyu Wu; Jun Zeng 002; Andrea Tagliabue; Mark W. Mueller (CoRR, 2021)

Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. - Zhongyu Li 003; Jun Zeng 002; Shuxiao Chen; Koushil Sreenath (CoRR, 2021)

A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee. - Suiyi He; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (ACC, 2022)

Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. - Suiyi He; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. - Lizhi Yang; Zhongyu Li 003; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Adapting Rapid Motor Adaptation for Bipedal Robots. - Ashish Kumar 007; Zhongyu Li 003; Jun Zeng 002; Deepak Pathak; Koushil Sreenath; Jitendra Malik (IROS, 2022)

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. - Zhongyu Li 003; Jun Zeng 002; Akshay Thirugnanam; Koushil Sreenath (Robotics: Science and Systems, 2022)

Model-Free Online Motion Adaptation for Energy-Efficient Flight of Multicopters. - Xiangyu Wu; Jun Zeng 002; Andrea Tagliabue; Mark W. Mueller (IEEE Access, 2022)

Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. - Chenyu Yang; Guo Ning Sue; Zhongyu Li 003; Lizhi Yang; Haotian Shen; Yufeng Chi; Akshara Rai; Jun Zeng 002; Koushil Sreenath (IEEE Robotics Autom. Lett., 2022)

Challenges of Control Barrier Functions: Optimization, Control, Planning, and Navigation - Jun Zeng 002 (2022)

Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. - Shuo Liu; Jun Zeng 002; Koushil Sreenath; Calin A. Belta (ACC, 2023)

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. - Yifan Zeng; Suiyi He; Han Hoang Nguyen; Yihan Li; Zhongyu Li 003; Koushil Sreenath; Jun Zeng 002 (CDC, 2023)

Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. - Qiayuan Liao; Zhongyu Li 003; Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (IROS, 2023)

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. - Yifan Zeng; Suiyi He; Han Hoang Nguyen; Zhongyu Li 003; Koushil Sreenath; Jun Zeng 002 (CoRR, 2023)

Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2023)

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems. - Jihao Huang; Jun Zeng 002; Xuemin Chi; Koushil Sreenath; Zhitao Liu; Hongye Su (IEEE Robotics Autom. Lett., 2023)

Autonomous navigation of underactuated bipedal robots in height-constrained environments. - Zhongyu Li 003; Jun Zeng 002; Shuxiao Chen; Koushil Sreenath (Int. J. Robotics Res., 2023)

Iterative Convex Optimization for Safety-Critical Model Predictive Control. - Shuo Liu; Zhe Huang; Jun Zeng 002; Koushil Sreenath; Calin A. Belta (CoRR, 2024)

Adaptive learning-based model predictive control strategy for drift vehicles. - Bei Zhou; Cheng Hu; Jun Zeng 002; Zhouheng Li; Johannes Betz; Lei Xie 007; Hongye Su (Robotics Auton. Syst., 2025)

Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions. - Jihao Huang; Jun Zeng 002; Xuemin Chi; Koushil Sreenath; Zhitao Liu; Hongye Su (CoRR, 2025)

IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance. - Yifan Zeng; Yihan Li; Suiyi He; Koushil Sreenath; Jun Zeng 002 (CoRR, 2025)