123 citations · 672 across the 112 of their papers we have counts for
124 papers
Optimally Trading Energy for Information through Speed Trajectory Optimization of Sustainably Powered Mobile Robots
Kavin M. Govindarajan, Dimitra Panagou, Chris Vermillion
Sustainably powered mobile robots enable long-duration observational missions by harvesting energy from the environment. However, effective autonomy requires the robots to make dec…
Clarity-Driven Adaptive Mission Planning for a Solar-Powered Autonomous Surface Vessel
Kavin M. Govindarajan, Kaleb Ben Naveed, David Li +5
This paper presents a comprehensive methodology, backed by simulation and experimental results, for an adaptive mission planning strategy that is mathematically grounded in the max…
Fully Byzantine-Resilient Multi-Agent Reinforcement Learning
Haejoon Lee, Dimitra Panagou
We study distributed Byzantine-resilient actor-critic multi-agent reinforcement learning (AC-MARL), where agents collectively learn policies through local interactions. Existing me…
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
Taekyung Kim, Hun Kuk Park, Renya Wada +3
Robots navigating under occlusion may enter states from which no admissible input can avoid a dynamic obstacle once it becomes visible. We present OcclusionCBF, a safety filter tha…
Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
Haejoon Lee, Xinyi Wang, Taekyung Kim +1
Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While…
Stochastic Multi-Objective Kinodynamic Planning Against Adversaries
Thomas Marshall Vielmetti, Daniel Cherenson, Dimitra Panagou
This paper addresses multi-objective kinodynamic planning in environments with stochastic hybrid adversaries that probabilistically transition to adversarial modes based on the ego…
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
Taekyung Kim, Rahul H Kumar, Aswin D. Menon +2
Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented…
DiffCVaR: Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
Xinyi Wang, Taekyung Kim, Bardh Hoxha +2
Planning through crowded environments under uncertain obstacle motions remains difficult, as stochastic interactions often induce overly conservative behavior or reduced efficiency…
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
Taekyung Kim, Hideki Okamoto, Bardh Hoxha +2
Safety-critical autonomy in unstructured environments poses significant challenges for online safety certification under evolving constraints. We propose Policy Library Control Bar…
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
Daniel M. Cherenson, Haejoon Lee, Taekyung Kim +1
We study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approach builds on a backup-based safety filtering framework that switches bet…
Robust Multi-Agent LLMs under Byzantine Faults
Haejoon Lee, Vincent-Daniel Yun, Dimitra Panagou +1
Large language model (LLM) agents increasingly collaborate over peer-to-peer networks to improve their reliability. However, these same interactions can also introduce vulnerabilit…
Trajectory Planning for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Manveer Singh, Devansh R. Agrawal +1
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduct…
Digital Guardians: The Past and The Future of Cyber-Physical Resilience
Saurabh Bagchi, Hyunseung Kim, Tarek Abdelzaher +20
Resilience in cyber-physical systems (CPS) is the fundamental ability to maintain safety and critical functionality despite adverse "perturbations," which includes security attacks…
Staggered Integral Online Conformal Prediction for Safe Dynamics Adaptation with Multi-Step Coverage Guarantees
Daniel M. Cherenson, Dimitra Panagou
Safety-critical control of uncertain, adaptive systems often relies on conservative, worst-case uncertainty bounds that limit closed-loop performance. Online conformal prediction i…
Fully Byzantine-Resilient Distributed Multi-Agent Q-Learning
Haejoon Lee, Dimitra Panagou
We study Byzantine-resilient distributed multi-agent reinforcement learning (MARL), where agents collaboratively learn optimal value functions over a compromised communication netw…
Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
Taekyung Kim, Aswin D. Menon, Akshunn Trivedi +1
This paper revisits three backup-based safety filters -- Backup Control Barrier Functions (Backup CBF), Model Predictive Shielding (MPS), and gatekeeper -- through a unified compar…
Safe Model Predictive Diffusion with Shielding
Taekyung Kim, Keyvan Majd, Hideki Okamoto +3
Generating safe, kinodynamically feasible, and optimal trajectories for complex robotic systems is a central challenge in robotics. This paper presents Safe Model Predictive Diffus…
Multi-Agent gatekeeper: Safe Flight Planning and Formation Control for Urban Air Mobility
Thomas Marshall Vielmetti, Devansh R Agrawal, Dimitra Panagou
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a…
Kalman-Bucy Filtering with Randomized Sensing: Fundamental Limits and Sensor Network Design for Field Estimation
Xinyi Wang, Devansh R. Agrawal, Dimitra Panagou
Stability analysis of the Kalman filter under randomly lost measurements has been widely studied. We revisit this problem in a general continuous-time framework, where both the mea…
Provably Safe Stein Variational Clarity-Aware Informative Planning
Kaleb Ben Naveed, Utkrisht Sahai, Anouck Girard +1
Autonomous robots are increasingly deployed for information-gathering tasks in environments that vary across space and time. Planning informative and safe trajectories in such sett…
Adaptive Control Allocation for Underactuated Time-Scale Separated Non-Affine Systems
Daniel M. Cherenson, Dimitra Panagou
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. Thi…
R3R: Decentralized Multi-Agent Collision Avoidance with Infinite-Horizon Safety
Thomas Marshall Vielmetti, Devansh R. Agrawal, Dimitra Panagou
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R whi…
A Formal gatekeeper Framework for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Devansh R. Agrawal, Dimitra Panagou
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduct…
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
Hun Kuk Park, Taekyung Kim, Dimitra Panagou
Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments rema…