123 citations · 672 across the 112 of their papers we have counts for
13 papers · 1 filter
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In th…
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey +4
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its…
Construction of the Sparsest Maximally r-Robust Graphs
Haejoon Lee, Dimitra Panagou
In recent years, the notion of r-robustness for the communication graph of the network has been introduced to address the challenge of achieving consensus in the presence of misbeh…
Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
Haejoon Lee, Dimitra Panagou
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agent…
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
Taekyung Kim, Robin Inho Kee, Dimitra Panagou
Control Barrier Functions (CBFs) have become powerful tools for ensuring safety in nonlinear systems. However, finding valid CBFs that guarantee persistent safety and feasibility r…
Safety-Critical Control with Offline-Online Neural Network Inference
Junhui Zhang, Sze Zheng Yong, Dimitra Panagou
This paper presents a safety-critical control framework for an ego agent moving among other agents. The approach infers the dynamics of the other agents, and incorporates the infer…
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Taekyung Kim, Dimitra Panagou
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Cont…
meSch: Multi-Agent Energy-Aware Scheduling for Task Persistence
Kaleb Ben Naveed, An Dang, Rahul Kumar +1
This paper develops a scheduling protocol for a team of autonomous robots that operate on long-term persistent tasks. The proposed framework, called meSch, accounts for the limited…
Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
Mitchell Black, Georgios Fainekos, Bardh Hoxha +1
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. Fi…
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner +3
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical system…
Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
Devansh R. Agrawal, Dimitra Panagou
This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation. I…
Robust Safety-Critical Control for Systems with Sporadic Measurements and Dwell Time Constraints
Joseph Breeden, Luca Zaccarian, Dimitra Panagou
This paper presents extensions of control barrier function (CBF) theory to systems with disturbances wherein a controller only receives measurements infrequently and operates open-…
Online and Certifiably Correct Visual Odometry and Mapping
Devansh R Agrawal, Rajiv Govindjee, Jiangbo Yu +2
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camer…