publications

2024

  1. 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
    arXiv preprint arXiv:2411.12962. More Information can be found here , 2024
  2. project6-crows.gif
    Conformalized Reachable Sets for Obstacle Avoidance With Spheres
    Yongseok Kwon, Jonathan Michaux, Seth Isaacson, and 3 more authors
    CoRL 2024 Workshop SAFE-ROL Poster. More Information can be found here , 2024
  3. project1-RAPTOR-2.gif
    Rapid and Robust Trajectory Optimization for Humanoids
    Bohao Zhang, and Ram Vasudevan
    arXiv preprint arXiv:2409.00303. More Information can be found here , 2024
  4. project3-digit-demo-with-arms.png
    System Identification For Constrained Robots
    Bohao Zhang, Daniel Haugk, and Ram Vasudevan
    arXiv preprint arXiv:2408.08830. More Information can be found here , 2024
  5. Jointed Tails Enhance Control of Three-dimensional Body Rotation
    Xun Fu, Bohao Zhang, Ceri J. Weber, and 3 more authors
    Royal Society Interface, 2024
  6. project2-sparrows.gif
    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
  7. poject4-waitr-title.png
    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

2023

  1. poject5-armour-title.png
    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
    arXiv preprint arXiv:2301.13308. More Information can be found here , 2023

2020

  1. project7-pcba.jpg
    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