52 citations · 201 across the 50 of their papers we have counts for
12 papers · 1 filter
Safe Model Predictive Diffusion with Shielding
Taekyung Kim, Keyvan Majd, Hideki Okamoto +3
Generating safe, kinodynamically feasible, and optimal trajectories for complex robotic systems is a central challenge in robotics. This paper presents Safe Model Predictive Diffus…
LogSTOP: Temporal Scores over Prediction Sequences for Matching and Retrieval
Avishree Khare, Hideki Okamoto, Bardh Hoxha +2
Neural models such as YOLO and HuBERT can be used to detect local properties such as objects ("car") and emotions ("angry") in individual frames of videos and audio clips respectiv…
Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0
Yan Miao, Ege Yuceel, Georgios Fainekos +3
Visual policy design is crucial for aerial navigation. However, state-of-the-art visual policies often overfit to a single track and their performance degrades when track geometry…
FiReFly: Fair Distributed Receding Horizon Planning for Multiple UAVs
Nicole Fronda, Bardh Hoxha, Houssam Abbas
We propose injecting notions of fairness into multi-robot motion planning. When robots have competing interests, it is important to optimize for some kind of fairness in their usag…
Fair-CoPlan: Negotiated Flight Planning with Fair Deconfliction for Urban Air Mobility
Nicole Fronda, Phil Smith, Bardh Hoxha +2
Urban Air Mobility (UAM) is an emerging transportation paradigm in which Uncrewed Aerial Systems (UAS) autonomously transport passengers and goods in cities. The UAS have different…
GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
Keyvan Majd, Hardik Parwana, Bardh Hoxha +3
Articulated vehicles such as tractor-trailers, yard trucks, and similar platforms must often reverse and maneuver in cluttered spaces where pedestrians are present. We present how…
STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies
Yiqi Zhao, Xinyi Yu, Bardh Hoxha +3
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a…
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
Hardik Parwana, Taekyung Kim, Kehan Long +4
Model Predictive Path Integral (MPPI) control provides a sampling-based framework for optimal control, while Control Barrier Functions (CBFs) provide a principled means of enforcin…
MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
Victoria Marie Tuck, Hardik Parwana, Pei-Wei Chen +5
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environm…
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
Xinyi Wang, Taekyung Kim, Bardh Hoxha +2
Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive ap…
Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications
Yiqi Zhao, Emily Zhu, Bardh Hoxha +3
Cyber-physical systems (CPS) designed in simulators, often consisting of multiple interacting agents (e.g. in multi-agent formations), behave differently in the real-world. We want…
RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics
Tomoya Yamaguchi, Bardh Hoxha, Dejan Nickovic
In this paper, we present Real-Time Analog Monitoring Tool (RTAMT), a tool for quantitative monitoring of Signal Temporal Logic (STL) specifications. The library implements a flexi…