publications

2025

1. 

   Can’t Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty

   Jonathan Michaux, Patrick Holmes, Bohao Zhang, and 7 more authors

   IEEE Transactions on Robotics. More Information can be found here , 2025
2. Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints

   Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou, and 5 more authors

   arXiv preprint arXiv:2505.01589. More Information can be found here , 2025

3. 

   Provably-Safe, Online System Identification

   Bohao Zhang, Zichang Zhou, and Ram Vasudevan

   Robotics: Science and Systems. More Information can be found here , 2025

4. 

   DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time

   Yizhou Chen, Xiaoyue Wu, Yeheng Zong, and 5 more authors

   . More Information can be found here , 2025
5. Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation

   Challen Enninful Adu, César E Ramos Chuquiure, Bohao Zhang, and 1 more author

   IEEE Robotics and Automation Letters. More Information can be found here , 2025

6. 

   Conformalized Reachable Sets for Obstacle Avoidance With Spheres

   Yongseok Kwon, Jonathan Michaux, Seth Isaacson, and 3 more authors

   ICRA. More Information can be found here , 2025

2024

1. 

   Rapid and Robust Trajectory Optimization for Humanoids

   Bohao Zhang, and Ram Vasudevan

   arXiv preprint arXiv:2409.00303. More Information can be found here , 2024

2. 

   System Identification For Constrained Robots

   Bohao Zhang, Daniel Haugk, and Ram Vasudevan

   arXiv preprint arXiv:2408.08830. More Information can be found here , 2024
3. Jointed Tails Enhance Control of Three-dimensional Body Rotation

   Xun Fu, Bohao Zhang, Ceri J. Weber, and 3 more authors

   Royal Society Interface, 2024

4. 

   Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres

   Jonathan Michaux, Adam Li, Qingyi Chen, and 3 more authors

   Robotics: Science and Systems. More Information can be found here , 2024

5. 

   Serving time: Real-time, safe motion planning and control for manipulation of unsecured objects

   Zachary Brei, Jonathan Michaux, Bohao Zhang, and 2 more authors

   IEEE Robotics and Automation Letters. More Information can be found here , 2024

2020

1. 

   Safe, optimal, real-time trajectory planning with a parallel constrained bernstein algorithm

   Bohao Zhang, Shreyas Kousik, Pengcheng Zhao, and 1 more author

   IEEE Transactions on Robotics, 2020
2. Reachable sets for safe, real-time manipulator trajectory design

   Patrick Holmes, Shreyas Kousik, Bohao Zhang, and 4 more authors

   Robotics: Science and Systems, 2020