67 citations · 77 across the 43 of their papers we have counts for
33 papers · 1 filter
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…
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…