51 citations · 59 across the 13 of their papers we have counts for
13 papers
Risk-aware Safe Control for Decentralized Multi-agent Systems via Dynamic Responsibility Allocation
Yiwei Lyu, Wenhao Luo, John M. Dolan
Decentralized control schemes are increasingly favored in various domains that involve multi-agent systems due to the need for computational efficiency as well as general applicabi…
Minimally Constrained Multi-Robot Coordination with Line-of-sight Connectivity Maintenance
Yupeng Yang, Yiwei Lyu, Wenhao Luo
In this paper, we consider a team of mobile robots executing simultaneously multiple behaviors by different subgroups, while maintaining global and subgroup line-of-sight (LOS) net…
Responsibility-associated Multi-agent Collision Avoidance with Social Preferences
Yiwei Lyu, Wenhao Luo, John M. Dolan
This paper introduces a novel social preference-aware decentralized safe control framework to address the responsibility allocation problem in multi-agent collision avoidance. Cons…
Noncooperative Herding With Control Barrier Functions: Theory and Experiments
Jaskaran Grover, Nishant Mohanty, Wenhao Luo +2
In this paper, we consider the problem of protecting a high-value unit from inadvertent attack by a group of agents using defending robots. Specifically, we develop a control strat…
Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions
Yiwei Lyu, Wenhao Luo, John M. Dolan
With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guarante…
Collective Conditioned Reflex: A Bio-Inspired Fast Emergency Reaction Mechanism for Designing Safe Multi-Robot Systems
Bowei He, Zhenting Zhao, Wenhao Luo +1
A multi-robot system (MRS) is a group of coordinated robots designed to cooperate with each other and accomplish given tasks. Due to the uncertainties in operating environments, th…
Probabilistic Safety-Assured Adaptive Merging Control for Autonomous Vehicles
Yiwei Lyu, Wenhao Luo, John M. Dolan
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while perform…
Meta Preference Learning for Fast User Adaptation in Human-Supervisory Multi-Robot Deployments
Chao Huang, Wenhao Luo, Rui Liu
As multi-robot systems (MRS) are widely used in various tasks such as natural disaster response and social security, people enthusiastically expect an MRS to be ubiquitous that a g…
Hiding Leader's Identity in Leader-Follower Navigation through Multi-Agent Reinforcement Learning
Ankur Deka, Wenhao Luo, Huao Li +2
Leader-follower navigation is a popular class of multi-robot algorithms where a leader robot leads the follower robots in a team. The leader has specialized capabilities or mission…
Online Connectivity-aware Dynamic Deployment for Heterogeneous Multi-Robot Systems
Chendi Lin, Wenhao Luo, Katia Sycara
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards mult…
Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier Certificates
Wenhao Luo, Wen Sun, Ashish Kapoor
Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to prop…
Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems
Wenhao Luo, Sha Yi, Katia Sycara
In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \t…
Active Learning with Gaussian Processes for High Throughput Phenotyping
Sumit Kumar, Wenhao Luo, George Kantor +1
A looming question that must be solved before robotic plant phenotyping capabilities can have significant impact to crop improvement programs is scalability. High Throughput Phenot…