publications

publications by categories in reversed chronological order
*equal contribution

preprints

  1. bachelor_thesis.png
    Robust Optimal Control for Nonlinear Systems Based on Adaptive Reinforcement Learning
    Bachelor’s Thesis, Hanoi University of Science and Technology, 2021
    PDF Slides
  2. tinympc_cone.png
    Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC
    Sam Schoedel*, Khai Nguyen*, Elakhya Nedumaran, Brian Plancher, and Zachary Manchester
    2024
    arXiv Code Website

conference & journal articles

2024

  1. ICRA
    tiny_mpc.png
    TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
    Khai Nguyen*, Sam Schoedel*, Anoushka Alavilli*, Brian Plancher, and Zachary Manchester
    International Conference on Robotics and Automation (ICRA), 2024
    🏆 Best Paper Award in Automation at ICRA 2024
    🏆 Finalists of Best Conference Paper Award and Best Student Paper Award at ICRA 2024
    🏆 Best Poster Award at CMU MechE Symposium  ~ 10%
    🏆 Runner-up of Best Poster Award, TC on Model-based Optimization for Robotics  ~ 10%
    arXiv Video Code Poster Website

2023

  1. IJRNC
    khai2022formation.gif
    Formation Control Scheme with Reinforcement Learning Strategy for a Group of Multiple Surface Vehicles
    Khai Nguyen, Van Trong Dang, Dinh Duong Pham, and Phuong Nam Dao
    International Journal of Robust and Nonlinear Control (IJRNC), 2023
    DOI HTML

2021

  1. ICISN
    icisn21.png
    Adaptive Reinforcement Learning Motion/Force Control of Multiple Uncertain Manipulators
    Phuong Nam Dao, Dinh Duong Pham, Xuan Khai Nguyen, and Tat Chung Nguyen
    In Intelligent Systems and Networks, 2021
    DOI HTML PDF Video
  2. MCA
    mca_voltage.png
    Output DC Voltage Stabilizer and Efficiency Improvement in Wireless Power Transfer Systems
    X. K. Nguyen, C. N. A Le, T. D. Nguyen, and K. T. Nguyen
    Measurement, Control, and Automation (MCA), 2021
    HTML

short papers & reports

2024

  1. CoRL
    deqmpc.png
    Deep Equilibrium Model Predictive Control
    Swaminathan Gurumurthy, Khai Nguyen, Arun Bishop, Zachary Manchester, and Zico Kolter
    In CoRL Workshop Differentiable Optimization Everywhere, 2024
    PDF Website
  2. RSS
    RSS24W-OptimizingatAllScales.png
    Optimizing at All Scales: Edge (Non)linear Model Predictive Control from MCUs to GPUs
    Emre Adabag*, Xuyei Bu*, Khai Nguyen* , Samuel Schoedel*, Anoushka Alavilli, Miloni Atal, William Gerard, Elakhya Nedumaran, Zachary Manchester, and Brian Plancher
    In RSS Workshop Frontiers of Optimization for Robotics, 2024
    ✨ Spotlight Talk  ~ 20%
    PDF Poster Website
  3. RSS
    RSS24W-Legibility.gif
    A Robot Learning System for Viewpoint-aware Legible Motion Planning
    Khai Nguyen*, Yi-Hung Chiu*, Prakrit Tyagi*, Saurav Kambil*, and Inseung Kang
    In RSS Workshop Learning for Assistive Robotics, 2024
    PDF Poster Website

2021

  1. AOTULE
    Areas with More Motivation to Develop in the Pandemic
    Khai Nguyen
    In AOTULE Student Conference, 2021
    Slides
  2. Report
    Adaptive Reinforcement Learning of Nonlinear Systems with Disturbances Based on Time-Varying RISE Method
    Anh Le*, and Khai Nguyen*
    In HUST Student Research Conference, 2021
    PDF Poster
  3. Report
    Multiagent Control with Adaptive Reinforcement Learning Strategy for Surface Vessels
    Duong Pham*, and Khai Nguyen*
    In HUST Student Research Conference, 2021
    PDF

2020

  1. Oral
    High-Efficiency Dynamic Wireless Charging System for Electric Vehicles
    Khai Nguyen, An Nguyen, Hieu Le, and Kien-Trung Nguyen
    In Student Forum, 2020
    🏆 Top 2 Best Oral Presentation Award  ~ 3%
  2. ISPEC
    Design of Voltage Stabilization with Semi-Bridgeless Active Rectifier in Wireless Power Transfer System
    X. K. Nguyen, C. N. A Le, T. D. Nguyen, and K. T. Nguyen
    In International Symposium on Power, Energy and Cybernetics, 2020
    PDF
  3. ISPEC
    Load Power Estimation Using the Extended Kalman Filter of Dynamic Wireless Charging System for Electric Vehicles
    T. V. Nguyen, Q. T. Ngo, X. K. Nguyen, T. D. Nguyen, and K. T. Nguyen
    In International Symposium on Power, Energy and Cybernetics, 2020
    PDF
  4. Report
    Using the Extended Kalman Filter to Estimate Load Power of Dynamic Wireless Charging System for Electric Vehicles
    Khai Nguyen, Anh Le, Vuong Nguyen, and Thien Ngo
    In HUST Student Research Conference, 2020
    🏆 Best Poster Award  ~ 7%
  5. Report
    Tracking Control for a Range of Mechanical Systems under Input Constraints
    Khai Nguyen, and Duong Pham
    In HUST Student Research Conference, 2020