67 citations · 135 across the 21 of their papers we have counts for
22 papers
Clarity-Driven Adaptive Mission Planning for a Solar-Powered Autonomous Surface Vessel
Kavin M. Govindarajan, Kaleb Ben Naveed, David Li +5
This paper presents a comprehensive methodology, backed by simulation and experimental results, for an adaptive mission planning strategy that is mathematically grounded in the max…
Trajectory Planning for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Manveer Singh, Devansh R. Agrawal +1
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduct…
Multi-Agent gatekeeper: Safe Flight Planning and Formation Control for Urban Air Mobility
Thomas Marshall Vielmetti, Devansh R Agrawal, Dimitra Panagou
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a…
Kalman-Bucy Filtering with Randomized Sensing: Fundamental Limits and Sensor Network Design for Field Estimation
Xinyi Wang, Devansh R. Agrawal, Dimitra Panagou
Stability analysis of the Kalman filter under randomly lost measurements has been widely studied. We revisit this problem in a general continuous-time framework, where both the mea…
R3R: Decentralized Multi-Agent Collision Avoidance with Infinite-Horizon Safety
Thomas Marshall Vielmetti, Devansh R. Agrawal, Dimitra Panagou
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R whi…
A Formal gatekeeper Framework for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Devansh R. Agrawal, Dimitra Panagou
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduct…
Reformulations of Quadratic Programs for Lipschitz Continuity
Devansh R. Agrawal, Haejoon Lee, Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these…
Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications
Devansh R. Agrawal, Dimitra Panagou
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recurs…
Adaptive Ergodic Search with Energy-Aware Scheduling for Persistent Multi-Robot Missions
Kaleb Ben Naveed, Devansh R. Agrawal, Rahul Kumar +1
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve…
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee +4
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. Howe…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…
Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
Daniel M. Cherenson, Devansh R. Agrawal, Dimitra Panagou
Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expendit…
Fusion of Indirect Methods and Iterative Learning for Persistent Velocity Trajectory Optimization of a Sustainably Powered Autonomous Surface Vessel
Kavin M. Govindarajan, Devansh R Agrawal, Dimitra Panagou +1
In this paper, we present the methodology and results for a real-time velocity trajectory optimization for a solar-powered autonomous surface vessel (ASV), where we combine indirec…
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner +3
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical system…
Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
Devansh R. Agrawal, Dimitra Panagou
This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation. I…
Online and Certifiably Correct Visual Odometry and Mapping
Devansh R Agrawal, Rajiv Govindjee, Jiangbo Yu +2
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camer…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
Eclares: Energy-Aware Clarity-Driven Ergodic Search
Kaleb Ben Naveed, Devansh Agrawal, Christopher Vermillion +1
Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot's limited battery cap…
Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability
Devansh R Agrawal, Dimitra Panagou
We introduce an information measure, termed clarity, motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informativ…
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions
Devansh R. Agrawal, Dimitra Panagou
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system rem…
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
Devansh R Agrawal, Ruichang Chen, Dimitra Panagou
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints des…
Safe Control Synthesis via Input Constrained Control Barrier Functions
Devansh Agrawal, Dimitra Panagou
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine syste…