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Publications

A full list of our publications can also be found on my Google Scholar.

A full list of our videos can be seen on our YouTube Channel.

 

  1. Adaptive Force-based Control of Dynamic Legged Locomotion over Uneven Terrain

    Mohsen Sombolestan, and Quan Nguyen.

    IEEE Transactions on Robotics, 2024.

    arXiv | Video

  2. Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC

    Yiyu Chen and Quan Nguyen.

    IEEE International Conference on Robotics and Automation (ICRA), 2024.

    arXiv | Video

  3. Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects

    Alberto Rigo, Muqun Hu, Satyandra K. Gupta, and Quan Nguyen.

    IEEE International Conference on Robotics and Automation (ICRA), 2024.

    arXiv | Video

  4. Accounting for Travel Time and Arrival Time Coordination during Task Allocations in Legged-robot Teams

    S. Chen, Y. Chen, R. Jain, X. Zhang, Q. Nguyen, and S.K. Gupta.

    IEEE International Conference on Robotics and Automation (ICRA), 2024.

  5. Autonomous Visual Navigation for Quadruped Robots in Farm Operation

    Y. Chen, Z. Wei, S.G. Vougioukas, S.K. Gupta, and Q. Nguyen.

    IEEE Conference on Automation Science and Engineering (CASE), 2024.

  6. A Computationally Efficient Approach to Account for Stochastic Delays in Multi-robot Task Allocation in a Proactive Manner

    Sheng Chen, Quan Nguyen, and Satyandra K. Gupta.

    IEEE Conference on Automation Science and Engineering (CASE), 2024.

  7. Enhancing Efficiency of Human Pickers in Strawberry Harvesting with Quadruped Robots

    Y. Chen, S. Chen, X. Zhang, D. Racano, S.G. Vougioukas, Q. Nguyen, and S.K. Gupta.

    ASME Mechanisms and Robotics Conference, 2024.

  8. Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments

    Ryan Bena, Chongbo Zhao, and Quan Nguyen.

    IEEE Robotics and Automation Letters, 2023.

    arxiv | Video

  9. Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots

    Mohsen Sombolestan, and Quan Nguyen.

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

    arXiv | Video

  10. Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy Approach

    Lokesh Krishna, and Quan Nguyen.

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

    arXiv | Video

  11. Kinodynamics-based Pose Optimization for Humanoid Loco-manipulation

    Junheng Li and Quan Nguyen.

    Humanoids, 2023.

    arXiv | Video

  12. Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots.

    Junheng Li, and Quan Nguyen.

    American Control Conference (ACC), 2023.

    arXiv | Video

  13. A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control

    Ryan Bena, Sushmit Hossain, Buyun Chen, Wei Wu, and Quan Nguyen.

    IEEE International Conference on Robotics and Automation (ICRA), 2023.

    paper | Video

  14. Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control

    Alberto Rigo, Yiyu Chen, Satyandra K. Gupta, and Quan Nguyen.

    IEEE International Conference on Robotics and Automation (ICRA), 2023.

    arXiv | Video

  15. Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots.

    Mohsen Sombolestan and Quan Nguyen.

    IEEE International Conference on Robotics and Automation (ICRA), 2023.

    arXiv | Video

  16. Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC.

    Junheng Li and Quan Nguyen.

    IEEE Control Systems Letters (L-CSS), 2023.

    arXiv | Video

  17. Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles.

    Yiyu Chen, Lingchen Lian, Yu-Hsiu Hsieh, Quan Nguyen, and Satyandra K Gupta.

    Journal of Mechanisms and Robotics, 2023.

    Video

  18. Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control.

    Chuong Nguyen, Lingfan Bao, and Quan Nguyen.

    IEEE Conference on Decision and Control (CDC 2022).

    arXiv | Video

  19. Balancing Control and Pose Optimization for Wheel-legged Robots Navigating Uneven Terrains.

    Junheng Li, Junchao Ma, and Quan Nguyen.

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

    arXiv | Video

  20. Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots.

    Chuong Nguyen and Quan Nguyen.

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

    arXiv | Video

  21. Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning.

    Guillaume Bellegarda, Yiyu Chen, Zhuochen Liu and Quan Nguyen.

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

    arXiv | Video

  22. L1 Adaptive Control Barrier Functions for Nonlinear Underactuated Systems.

    Quan Nguyen and Koushil Sreenath.

    American Control Conference (ACC), 2022.

    pdf

  23. Dynamic Vehicle Drifting With Nonlinear MPC and a Fused Kinematic-Dynamic Bicycle Model.

    Guillaume Bellegarda and Quan Nguyen.

    American Control Conference (ACC), 2022.

  24. Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots.

    Junheng Li and Quan Nguyen.

    IEEE Conference on Decision and Control (CDC), 2021.

    arXiv | Video

  25. Safe and Robust Motion Planning for Dynamic Robotics via Control Barrier Functions

    Aniketh Manjunath and Quan Nguyen.

    IEEE Conference on Decision and Control (CDC), 2021.

    arXiv | Video

  26. Adaptive Force-based Control for Legged Robots.

    Mohsen Sombolestan, Yiyu Chen, and Quan Nguyen.

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

    arXiv | Video | Presentation

  27. A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments.

    Yiyu Chen, Abhinav Pandey, Zhiwei Deng, Anthony Nguyen, Ruiqi Wang, Pornrawee Thonapalin, Quan Nguyen, and Satyandra K. Gupta.

    ASME Mechanism and Robotics Conference, 2021.

    Video

  28. Locomotion and Control of a Friction-Driven Tripedal Robot.

    Mark Hermes, Taylor McLaughlin, Mitul Luhar, and Quan Nguyen.

    IEEE International Conference on Robotics and Automation (ICRA), 2021.

    arXiv | Video

  29. Robust Safety-Critical Control for Dynamic Robotics.

    Quan Nguyen and Koushil Sreenath.

    IEEE Transactions on Automatic Control (TAC), February 2021.

    pdf | Video

  30. Safety-critical control for non-affine nonlinear systems with application on autonomous vehicles.

    Son Tong and Quan Nguyen.

    IEEE 58th Conference on Decision and Control (CDC), 2019.

    pdf

  31. Optimized Jumping on the MIT Cheetah 3 Robot.

    Quan Nguyen, Matthew. J. Powell, Benjamin Katz, Jared Di Carlo, and Sangbae Kim.

    IEEE International Conference on Robotics and Automation (ICRA), 2019.

    pdf | Video

  32. Dynamic Bipedal Locomotion over Stochastic Discrete Terrain.

    Quan Nguyen, Ayush Agrawal, William Martin, Hartmut Geyer, and Koushil Sreenath.

    The International Journal of Robotics Research (IJRR), 2018.

    pdf | Video

  33. Deep Visual Perception for Dynamic Walking on Discrete Terrain.

    Avinash Siravuvu, Allan Wang, Quan Nguyen, and Koushil Sreenath.

    IEEE-RAS International Conference on Humanoid Robots, 2017.

  34. Dynamic walking on randomly-varying discrete terrain with one-step preview.

    Quan Nguyen, Xingye Da, William Martin, Hartmut Geyer, Jessy W. Grizzle, and Koushil Sreenath.

    Robotics: Science and Systems (RSS), Boston, MA, 2017.

    pdf | Video

  35. Dynamic walking on stepping stones with gait library and control barrier.

    Quan Nguyen, Xingye Da, J. W. Grizzle, and Koushil Sreenath.

    Workshop on Algorithmic Foundations of Robotics (WAFR), 2016.

    pdf | Video

  36. 3D dynamic walking on stepping stones with control barrier functions.

    Quan Nguyen, Ayonga Hereid, J. W. Grizzle, Aaron D. Ames, and Koushil Sreenath.

    IEEE International Conference on Decision and Control (CDC), pages 827–834, Las Vegas, NV, December 2016.

    pdf | Video

  37. Optimal robust time-varying safety-critical control with application to dynamic walking on moving stepping stones.

    Quan Nguyen and Koushil Sreenath.

    ASME Dynamics Systems and Control Conference (DSCC), Minneapolis, MN, October 2016.

    pdf | Video

  38. Optimal robust control for constrained nonlinear hybrid systems with application to bipedal locomotion. 

    Quan Nguyen and Koushil Sreenath.

    American Control Conference (ACC), pages 4807–4813, Boston, MA, July 2016.

    pdf | Video

  39. Exponential control barrier functions for enforcing high relative-degree safety-critical constraints.

    Quan Nguyen and Koushil Sreenath.

    American Control Conference (ACC), pages 322–328, Boston, MA, July 2016.

    pdf | Video

  40. Dynamic bipedal walking over time-varying stepping stones.

    Quan Nguyen and Koushil Sreenath.

    Dynamic Walking Conference (DW), Michigan, June 2016.

  41. Safety-critical control for dynamical bipedal walking with precise footstep placement.

    Quan Nguyen and Koushil Sreenath.

    IFAC Analysis and Design of Hybrid Systems (ADHS), Atlanta, GA, October 2015.

    pdf | Video

  42. Optimal robust control for bipedal robots through control Lyapunov function based quadratic programs.

    Quan Nguyen and Koushil Sreenath.

    Robotics: Science and Systems (RSS), Rome, Italy, July 2015.

    pdf

  43. L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs.

    Quan Nguyen and Koushil Sreenath.

    American Control Conference (ACC), pages 862–867, Chicago, IL, July 2015.

    pdf | Video

  44. Dynamic bipedal walking while carrying an unknown time-varying load.

    Quan Nguyen and Koushil Sreenath.

    Dynamic Walking (DW), Ohio State University, July 2015.

  45. Robust and adaptive control of Euler-Lagrange systems with an attractor independent of uncertainties.

    Quan Nguyen and Phuoc Nguyen.

    IEEE International Conference on Control, Automation and Systems (ICCAS), pages 1309 – 1312, JeJu Island, South Korea, Oct 2012.

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