41 citations · 45 across the 8 of their papers we have counts for
8 papers
BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control
Anandsingh Chauhan, Kunal Garg
Control barrier functions (CBFs) have become one of the most popular tools for encoding and enforcing state constraints in safety-critical robotics. Standard CBF approaches are inh…
Hybrid topology control: a dynamic leader-based distributed edge-addition and deletion mechanism
Kunal Garg, Xi Yu
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes…
Failure Prediction from Limited Hardware Demonstrations
Anjali Parashar, Kunal Garg, Joseph Zhang +1
Prediction of failures in real-world robotic systems either requires accurate model information or extensive testing. Partial knowledge of the system model makes simulation-based f…
Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems
Kunal Garg, Songyuan Zhang, Jacob Arkin +1
Connected multi-agent robotic systems (MRS) are prone to deadlocks in an obstacle environment where the robots can get stuck away from their desired locations under a smooth low-le…
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control
Songyuan Zhang, Oswin So, Kunal Garg +1
Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging problem. In this paper, we design a distributed framework for safe multi-agent control i…
Learning Safe Control for Multi-Robot Systems: Methods, Verification, and Open Challenges
Kunal Garg, Songyuan Zhang, Oswin So +2
In this survey, we review the recent advances in control design methods for robotic multi-agent systems (MAS), focussing on learning-based methods with safety considerations. We st…
Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control
Songyuan Zhang, Kunal Garg, Chuchu Fan
We consider the problem of designing distributed collision-avoidance multi-agent control in large-scale environments with potentially moving obstacles, where a large number of agen…
Neural Network-based Fault Detection and Identification for Quadrotors using Dynamic Symmetry
Kunal Garg, Chuchu Fan
Autonomous robotic systems, such as quadrotors, are susceptible to actuator faults, and for the safe operation of such systems, timely detection and isolation of these faults is es…