3 citations · 4 across the 15 of their papers we have counts for
16 papers
Dispersive Tree Agreements for Multi-Robot Coordination
Shashank A. Deshpande, Blake T. Edwards, Jonathan P. How
Multi-robot coordination of nonlinear systems is naturally formulated as joint-space optimal control subject to constraints over groups of robots. Existing methods that approach jo…
Dispersive Forward Tree Search for Optimal Control: Coverage, Complexity, and Computation
Shashank A. Deshpande, Jonathan P. How
Steering-based planners require solutions to state-to-state boundary value problems, which can be inaccessible for nonlinear platforms. Forward propagation evades the steering requ…
Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error
Nicholas Rober, Yixuan Jia, Jonathan P. How
Safety filters are an effective tool for enforcing constraints in safety-critical systems, but most existing methods assume perfect state information, which is rarely available in…
Beyond Bayesian Nash: Learning Minimax-Regret Equilibria for Adversarial Team Games under Asymmetric Information
Naman Aggarwal, Jonathan P. How
Adversarial team games (ATGs) with asymmetric information, such as adversarial path-finding, goal search, and reachability games on graphs, require strategies that are robust to hi…
PRISM: Efficient and Locally Optimal Probabilistic Planning with Reachability Guarantees
Alex Rose, Christopher Jewison, Jonathan P. How
Belief-space planning under motion uncertainty and state and control constraints remains a fundamental challenge, largely due to the difficulty of establishing reachability guarant…
Robust Sampling-Based Covariance Steering for Aerocapture Guidance
Alex Rose, Christopher Jewison, Jonathan P. How
Aerocapture is a maneuver where a spacecraft dives through the atmosphere of a planet or moon to reduce its velocity and prepare for orbital insertion. Aerocapture allows for highe…
GUARDIAN: Safety Filtering for Systems with Perception Models Under Adversarial Attack
Nicholas Rober, Alex Rose, Jonathan P. How
Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is es…
Efficient Probabilistic Planning with Maximum-Coverage Distributionally Robust Backward Reachable Trees
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formu…
REVISE: Robust Probabilistic Motion Planning in a Gaussian Random Field
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents Robust samplE-based coVarIance StEering (REVISE), a multi-query algorithm that generates robust belief roadmaps for dynamic systems navigating through spatially…
An Overview of the Burer-Monteiro Method for Certifiable Robot Perception
Alan Papalia, Yulun Tian, David M. Rosen +2
This paper presents an overview of the Burer-Monteiro method (BM), a technique that has been applied to solve robot perception problems to certifiable optimality in real-time. BM i…
Constraint-Aware Refinement for Safety Verification of Neural Feedback Loops
Nicholas Rober, Jonathan P. How
Neural networks (NNs) are becoming increasingly popular in the design of control pipelines for autonomous systems. However, since the performance of NNs can degrade in the presence…
SDP Synthesis of Distributionally Robust Backward Reachable Trees for Probabilistic Planning
Naman Aggarwal, Jonathan P. How
The paper presents Maximal Ellipsoid Backward Reachable Trees MAXELLIPSOID BRT, which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty…
SDP Synthesis of Maximum Coverage Trees for Probabilistic Planning under Control Constraints
Naman Aggarwal, Jonathan P. How
The paper presents Maximal Covariance Backward Reachable Trees (MAXCOVAR BRT), which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty…
MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments
Andrew Fishberg, Brian Quiter, Jonathan P. How
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We prop…
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…
A Forward Reachability Perspective on Control Barrier Functions and Discount Factors in Reachability Analysis
Jason J. Choi, Donggun Lee, Boyang Li +4
Control invariant sets are crucial for various methods that aim to design safe control policies for systems whose state constraints must be satisfied over an indefinite time horizo…