6 citations · 6 across the 6 of their papers we have counts for
8 papers
Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines
Florian Lercher, Karan Mahesh, Yujun Huang +6
When robots are deployed in the real-world, they must interact with other agents and accomplish their own goals while adhering to legal constraints. These potentially conflicting o…
Metric-Based Equilibrium Selection in Noncooperative Differentiable Games
Karan Mahesh, Runyu Zhang, Michael R. Benjamin +1
Metric conditioning can change which equilibrium attracts learning dynamics without moving the equilibria of a differentiable game. We study how to use state-dependent symmetric po…
Multi-Objective Compliance-Integrated Coevolution For Simulated And Real-World Deployment Of Multi-Robot Marine Autonomy
Everardo Gonzalez, Tyler M. Paine, Manuel Agraz Vallejo +3
Collaborative robots are well-suited to maritime missions that benefit from coordination, such as the exploration of unknown reef structures, inspection of subsea infrastructure, o…
Census-Based Population Autonomy For Distributed Robotic Teaming
Tyler M. Paine, Anastasia Bizyaeva, Michael R. Benjamin
Collaborating teams of robots show promise due to their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for syst…
Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis
Karan Mahesh, Tyler M. Paine, Max L. Greene +6
Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designi…
Adaptive bias for dissensus in nonlinear opinion dynamics with application to evolutionary division of labor games
Tyler M. Paine, Anastasia Bizyaeva, Michael R. Benjamin
This paper addresses the problem of adaptively controlling the bias parameter in nonlinear opinion dynamics (NOD) to allocate agents into groups of arbitrary sizes for the purpose…
A Model for Multi-Agent Autonomy That Uses Opinion Dynamics and Multi-Objective Behavior Optimization
Tyler M. Paine, Michael R. Benjamin
This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choic…
Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances
Nicholas Rober, Karan Mahesh, Tyler M. Paine +5
Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to di…