1 citations · 1 across the 7 of their papers we have counts for
15 papers
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions
Gennaro Notomista, Matteo Saveriano
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategi…
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Yousef Emam +4
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online f…
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation
Yousef Emam, Paul Glotfelter, Sean Wilson +2
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as…
A Safety and Passivity Filter for Robot Teleoperation Systems
Gennaro Notomista, Xiaoyi Cai
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the r…
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +1
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturba…
Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Yorai Wardi +1
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the…