44 citations · 111 across the 30 of their papers we have counts for
4 papers · 1 filter
Robustness Measures and Monitors for Time Window Temporal Logic
Ahmad Ahmad, Cristian-Ioan Vasile, Roberto Tron +1
Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specifica…
LQR-CBF-RRT*: Safe and Optimal Motion Planning
Guang Yang, Mingyu Cai, Ahmad Ahmad +3
We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Qu…
HoLA Robots: Mitigating Plan-Deviation Attacks in Multi-Robot Systems with Co-Observations and Horizon-Limiting Announcements
Kacper Wardega, Max von Hippel, Roberto Tron +2
Emerging multi-robot systems rely on cooperation between humans and robots, with robots following automatically generated motion plans to service application-level tasks. Given the…
Byzantine Resilience at Swarm Scale: A Decentralized Blocklist Protocol from Inter-robot Accusations
Kacper Wardega, Max von Hippel, Roberto Tron +2
The Weighted-Mean Subsequence Reduced (W-MSR) algorithm, the state-of-the-art method for Byzantine-resilient design of decentralized multi-robot systems, is based on discarding out…