1 citations · 1 across the 12 of their papers we have counts for
12 papers
Cooperative Risk-Aware Exploration in Heterogeneous Multi-Robot Systems Using Algorithmic Altruism
Brooks A. Butler, Jair Certório, João P. Hespanha +1
Multi-robot systems are well-positioned for exploration in hazardous environments, but effective deployment requires deciding not only where robots should gather information, but a…
Learning Altruistic Collaboration in Heterogeneous Multi-Team Systems
Riwa Karam, Ruoyu Lin, Brooks A. Butler +1
This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where the robots themselves are treated as transferable resources. Leveraging Hamilton's…
Collaborative Altruistic Safety in Coupled Multi-Agent Systems
Brooks A. Butler, Xiao Tan, Aaron D. Ames +1
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of al…
Collaboration in Multi-Robot Systems: Taxonomy and Survey of Frameworks for Collaboration
Riwa Karam, Alexander A. Nguyen, Ruoyu Lin +4
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite…
Robust Safety-Critical Control of Networked SIR Dynamics
Saba Samadi, Brooks A. Butler, Philip E. Paré
We present a robust safety-critical control framework tailored for networked susceptible-infected-recovered (SIR) epidemic dynamics, leveraging control barrier functions (CBFs) and…
Hamilton's Rule for Enabling Altruism in Multi-Agent Systems
Brooks A. Butler, Magnus Egerstedt
This paper explores the application of Hamilton's rule to altruistic decision-making in multi-agent systems. Inspired by biological altruism, we introduce a framework that evaluate…
Resource Allocation with Multi-Team Collaboration Based on Hamilton's Rule
Riwa Karam, Ruoyu Lin, Brooks A. Butler +1
This paper presents a multi-team collaboration strategy based on Hamilton's rule from ecology that facilitates resource allocation among multiple teams, where agents are considered…
Resilience to Non-Compliance in Coupled Cooperating Systems
Brooks A. Butler, Philip E. Paré
This letter explores the implementation of a safe control law for systems of dynamically coupled cooperating agents. Under a CBF-based collaborative safety framework, we examine ho…
Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
Brooks A. Butler, Zarif Cabrera, Andy Nguyen +1
In this paper, we develop a framework for the automatic taxiing of aircraft between hangar and take-off given a graph-based model of an airport. We implement a high-level path-plan…
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control l…
Collaborative Safe Formation Control for Coupled Multi-Agent Systems
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles…
Collaborative Safety-Critical Control for Dynamically Coupled Networked Systems
Brooks A. Butler, Philip E. Paré
As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relations…