123 citations · 672 across the 112 of their papers we have counts for
27 papers · 1 filter
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…
Partial Resilient Leader-Follower Consensus in Time-Varying Graphs
Haejoon Lee, Dimitra Panagou
This work studies resilient leader-follower consensus with a bounded number of adversaries. Existing approaches typically require robustness conditions of the entire network to gua…
Multi-Robot Allocation for Information Gathering in Non-Uniform Spatiotemporal Environments
Kaleb Ben Naveed, Haejoon Lee, Dimitra Panagou
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments…
Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints
Pio Ong, Haejoon Lee, Tamas G. Molnar +2
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial oper…
Reformulations of Quadratic Programs for Lipschitz Continuity
Devansh R. Agrawal, Haejoon Lee, Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these…
Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications
Devansh R. Agrawal, Dimitra Panagou
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recurs…
Minimal Construction of Graphs with Maximum Robustness
Haejoon Lee, Dimitra Panagou
The notions of -robustness and -robustness of a network have been earlier introduced in the literature to achieve resilient consensus in the presence of misbehaving agent…
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
Hardik Parwana, Taekyung Kim, Kehan Long +4
Model Predictive Path Integral (MPPI) control provides a sampling-based framework for optimal control, while Control Barrier Functions (CBFs) provide a principled means of enforcin…
Adaptive Ergodic Search with Energy-Aware Scheduling for Persistent Multi-Robot Missions
Kaleb Ben Naveed, Devansh R. Agrawal, Rahul Kumar +1
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve…
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee +4
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. Howe…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
Xinyi Wang, Taekyung Kim, Bardh Hoxha +2
Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive ap…
Distributed Resilience-Aware Control in Multi-Robot Networks
Haejoon Lee, Dimitra Panagou
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and glo…
Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty
Taekyung Kim, Robin Inho Kee, Dimitra Panagou
Control barrier functions (CBFs) provide a tractable mechanism for enforcing safety constraints in robotic systems, but their practical performance depends strongly on the choice o…
Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
Daniel M. Cherenson, Devansh R. Agrawal, Dimitra Panagou
Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expendit…
Feasibility Evaluation of Quadratic Programs for Constrained Control
Panagiotis Rousseas, Dimitra Panagou
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we…