5 citations · 11 across the 14 of their papers we have counts for
9 papers · 1 filter
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…
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…
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…
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…
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…