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eess.SY2026
Trusted Polytopic Action Sets for Fast Planning in Underactuated Systems
Akshay Jaitly, Siavash Farzan
Underactuated systems pose a challenge for convex motion planning because their dynamically feasible motions lie on a manifold of trajectories in function space. Building on our ea…
eess.SY2026
Progress-Based Fault Detection and Health-Aware Task Allocation for Heterogeneous Multi-Robot Systems
Jack Cline, Christian Macaranas, Siavash Farzan
We present a progress-based fault detection module and its integration with dynamic task allocation for heterogeneous robot teams. The detector monitors a normalized task-completio…