124 citations · 346 across the 17 of their papers we have counts for
8 papers · 1 filter
Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet
Andrew W. Singletary, Max H. Cohen, Tamas G. Molnar +1
The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions withou…
Safety-Critical Manipulation for Collision-Free Food Preparation
Andrew Singletary, William Guffey, Tamas G. Molnar +2
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of q…
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker +2
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting…
Model-Free Safety-Critical Control for Robotic Systems
Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary +2
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthe…
Lidar-based exploration and discretization for mobile robot planning
Yuxiao Chen, Andrew Singletary, Aaron D. Ames
In robotic applications, the control, and actuation deal with a continuous description of the system and environment, while high-level planning usually works with a discrete descri…
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance
Andrew Singletary, Karl Klingebiel, Joseph Bourne +3
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature…
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
H. J. Terry Suh, Xiaobin Xiong, Andrew Singletary +2
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a…
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions
Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick +1
A multi-agent partially observable Markov decision process (MPOMDP) is a modeling paradigm used for high-level planning of heterogeneous autonomous agents subject to uncertainty an…