5 citations · 11 across the 14 of their papers we have counts for
21 papers
Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints
Cahit Ikbal Er, Yasin Yazicioglu
We consider planning for unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) teams in aerial monitoring missions with ordering requirements on the monitoring points to…
SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle Avoidance
Amin Kashiri, Yasin Yazıcıoğlu
The collision cone used by velocity-space control barrier functions is conservative: it rejects every relative velocity aimed into an obstacle, however slow. We propose the \emph{s…
Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport
Amin Kashiri, Aditya Mohan, Yasin Yazıcıoğlu
We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication. A leader robot directs the payload's m…
DM-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation
Amin Kashiri, Atharva Jamsandekar, Yasin Yazıcıoğlu
We present DM-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setti…
PRO-SPECT: Probabilistically Safe Scalable Planning for Energy-Aware Coordinated UAV-UGV Teams in Stochastic Environments
Roger Fowler, Cahit Ikbal Er, Benjamin Johnsenberg +1
We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air…
Energy-Aware Collaborative Exploration for a UAV-UGV Team
Cahit Ikbal Er, Saikiran Juttu, Yasin Yazicioglu
We present an energy-aware collaborative exploration framework for a UAV-UGV team operating in unknown environments, where the UAV's energy constraint is modeled as a maximum fligh…
RSPECT: Robust and Scalable Planner for Energy-Aware Coordination of UAV-UGV Teams in Aerial Monitoring
Cahit Ikbal Er, Amin Kashiri, Yasin Yazicioglu
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-ho…
Reinforcement Learning Under Probabilistic Spatio-Temporal Constraints with Time Windows
Xiaoshan Lin, Abbasali Koochakzadeh, Yasin Yazicioglu +1
We propose an automata-theoretic approach for reinforcement learning (RL) under complex spatio-temporal constraints with time windows. The problem is formulated using a Markov deci…
Priority Based Synchronization for Faster Learning in Games
Abbasali Koochakzadeh, Yasin Yazıcıoğlu
Learning in games has been widely used to solve many cooperative multi-agent problems such as coverage control, consensus, self-reconfiguration or vehicle-target assignment. One st…
Control Barrier Functions with Actuation Constraints under Signal Temporal Logic Specifications
Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazıcıoğlu
We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks…
Distributed Planning for Serving Cooperative Tasks with Time Windows: A Game Theoretic Approach
Yasin Yazicioglu, Raghavendra Bhat, Derya Aksaray
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by suffic…
High Dimensional Robust Consensus over Networks with Limited Capacity
Yasin Yazicioglu, Alberto Speranzon
We investigate robust linear consensus over networks under capacity-constrained communication. The capacity of each edge is encoded as an upper bound on the number of state variabl…
Edge Augmentation with Controllability Constraints in Directed Laplacian Networks
Waseem Abbas, Mudassir Shabbir, Yasin Yazıcıoglu +1
In this paper, we study the maximum edge augmentation problem in directed Laplacian networks to improve their robustness while preserving lower bounds on their strong structural co…
Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates
Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazıcıoğlu
In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior o…
Probabilistically Guaranteed Satisfaction of Temporal Logic Constraints During Reinforcement Learning
Derya Aksaray, Yasin Yazicioglu, Ahmet Semi Asarkaya
We propose a novel constrained reinforcement learning method for finding optimal policies in Markov Decision Processes while satisfying temporal logic constraints with a desired pr…
Strong Structural Controllability of Diffusively Coupled Networks: Comparison of Bounds Based on Distances and Zero Forcing
Yasin Yazicioglu, Mudassir Shabbir, Waseem Abbas +1
We study the strong structural controllability (SSC) of diffusively coupled networks, where the external control inputs are injected to only some nodes, namely the leaders. For suc…
Absorption in Time-Varying Markov Chains: Graph-Based Conditions
Yasin Yazicioglu
We investigate absorption, i.e., almost sure convergence to an absorbing state, in time-varying (non-homogeneous) discrete-time Markov chains with finite state space. We consider s…
Decentralized Safe Reactive Planning under TWTL Specifications
Ryan Peterson, Ali Tevfik Buyukkocak, Derya Aksaray +1
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expres…
Persistent Surveillance With Energy-Constrained UAVs and Mobile Charging Stations
Sepehr Seyedi, Yasin Yazicioglu, Derya Aksaray
We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground…
Structural Robustness to Noise in Consensus Networks: Impact of Degrees and Distances, Fundamental Limits, and Extremal Graphs
Yasin Yazicioglu, Waseem Abbas, Mudassir Shabbir
We investigate how the graph topology influences the robustness to noise in undirected linear consensus networks. We measure the structural robustness by using the smallest possibl…
On the Trade-off Between Controllability and Robustness in Networks of Diffusively Coupled Agents
Waseem Abbas, Mudassir Shabbir, A. Yasin Yazicioglu +1
In this paper, we demonstrate a conflicting relationship between two crucial properties---controllability and robustness---in linear dynamical networks of diffusively coupled agent…